gz::sim::systems Namespace Reference

Namespace for all System plugins. Refer to the System class for more information about systems. More...

Namespaces
	actions
	events
	guards
	multicopter_control
	optical_tactile_sensor
	physics_system

Classes
class	AckermannSteering
	Ackermann steering controller which can be attached to a model with any number of left and right wheels. More...
class	AcousticComms
	A comms model that simulates communication using acoustic devices. The model uses simple distance based acoustics model. More...
class	AdvancedLiftDrag
	The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots. More...
class	AirPressure
	An air pressure sensor that reports vertical position and velocity readings over gz transport. More...
class	AirSpeed
	An air speed sensor that reports vertical position and velocity readings over gz transport. More...
class	Altimeter
	An altimeter sensor that reports vertical position and velocity readings over gz transport. More...
class	ApplyJointForce
	This system applies a force to the first axis of a specified joint. More...
class	ApplyLinkWrench
	Exposes transport topics and SDF params for applying forces and torques to links in simulation. It should be attached to a world. More...
class	Breadcrumbs
	A system for creating Breadcrumbs in the form of models that can get deployed/spawned at the location of the model to which this system is attached. Each breadcrumb is a complete sdf::Model. When deployed, the pose of the breadcrumb model is offset from the containing model by the pose specified in the <pose> element of the breadcrumb model. A name is generated for the breadcrumb by appending the current count of deployments to the name specified in the breadcrumb <model> element. The model specified in the <breadcrumb> parameter serves as a template for deploying multiple breadcrumbs of the same type. Including models from Fuel is accomplished by creating a <model> that includes the Fuel model using the <include> tag. See the example in examples/worlds/breadcrumbs.sdf. More...
class	Buoyancy
	A system that simulates buoyancy of objects immersed in fluid. All SDF parameters are optional. This system must be attached to the world and this system will apply buoyancy to all links that have collision shapes. More...
class	BuoyancyEnginePlugin
	This class provides a simple mechanical bladder which is used to control the buoyancy of an underwater glider. It uses Archimedes' principle to apply an upward force based on the volume of the bladder. It listens to the topic buoyancy_engine or /model/{namespace}/buoyancy_engine topic for the volume of the bladder in cubicmeters. More...
class	CameraVideoRecorder
	Record video from a camera sensor. More...
class	ColladaWorldExporter
	A plugin that exports a world to a mesh. When loaded the plugin will dump a mesh containing all the models in the world to the current directory. More...
class	CommsEndpoint
	A system that registers in the comms broker an endpoint. You're creating an address attached to the model where the plugin is running. The system will bind this address in the broker automatically for you and unbind it when the model is destroyed. More...
class	Contact
	Contact sensor system which manages all contact sensors in simulation. More...
class	DetachableJoint
	A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic. A model can be re-attached during simulation via a topic. The status of the detached state can be monitored via a topic as well. More...
class	DiffDrive
	Differential drive controller which can be attached to a model with any number of left and right wheels. More...
class	DoorTimer
	Timer that's used to keep a door open. It has a configurable default wait duration that when exceeded, it calls a function to let the state machine know to transition to the next state. The timer also checks whether the doorway is blocked, in which case it keeps the door open until whatever blocks the doorway moves out of the way. More...
class	DopplerVelocityLogSystem
	System that creates and updates DopplerVelocityLog (DVL) sensors. More...
class	Elevator
	System that controls an elevator. It closely models the structure and functionality of a real elevator. It individually controls the cabin and doors of the elevator, queues commands for the elevator and stops at intermediate floors if a command is received while the last one is ongoing, and keeps a door open if the doorway is blocked. The model of the elevator can have arbitrarily many floor levels and at arbitrary heights each. More...
class	ElevatorStateMachineDef
	Elevator state machine frontend. Defines the transition table and initial state of the state machine. More...
class	ElevatorStateMachinePrivate
class	EnvironmentPreload
	A plugin to preload an Environment component into the ECM upon simulation start-up. More...
class	FollowActor
	Make an actor follow a target entity in the world. More...
class	ForceTorque
	This system manages all Force-Torque sensors in simulation. Each FT sensor reports readings over Gazebo Transport. More...
class	Hydrodynamics
	This class provides hydrodynamic behaviour for underwater vehicles It is shamelessly based off Brian Bingham's plugin for VRX. which in turn is based of Fossen's equations described in "Guidance and Control of Ocean Vehicles" [1]. The class should be used together with the buoyancy plugin to help simulate behaviour of maritime vehicles. Hydrodynamics refers to the behaviour of bodies in water. It includes forces like linear and quadratic drag, buoyancy (not provided by this plugin), etc. More...
class	Imu
	This system manages all IMU sensors in simulation. Each IMU sensor eports vertical position, angular velocity and lienar acceleration readings over Gazebo Transport. More...
class	JointController
	Joint controller which can be attached to a model with a reference to a single joint. Currently only the first axis of a joint is actuated. More...
class	JointMonitor
	Monitor that checks the state of a joint. When the joint reaches the configured target, it calls a function to let the state machine know to transition to the next state. More...
class	JointPositionController
	Joint position controller which can be attached to a model with a reference to a single joint. More...
class	JointStatePublisher
	The JointStatePublisher system publishes joint state information for a model. The published message type is gz::msgs::Model, and the publication topic is determined by the <topic> parameter. More...
class	JointTrajectoryController
	Joint trajectory controller, which can be attached to a model with reference to one or more 1-axis joints in order to follow a trajectory. More...
class	KineticEnergyMonitor
	A system that monitors the kinetic energy of a link in a model and publishes when there is a lost of kinetic energy during a timestep that surpasses a specific threshold. This system can be used to detect when a model could be damaged. More...
class	Label
	A label plugin that annotates models by setting the label for the parent entity's visuals. The plugin can be attached to models, visuals, or actors. More...
class	LensFlare
	Add lens flare effects to the camera output as a render pass. More...
class	LiftDrag
	The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots. More...
class	LighterThanAirDynamics
	This class provides the effect of viscousity on the hull of lighter-than-air vehicles such as airships. The equations implemented is based on the work published in [1], which describes a modeling approach for the nonlinear dynamics simulation of airships and [2] providing more insight of the modelling of an airship. More...
class	LinearBatteryPlugin
	A plugin for simulating battery usage. More...
class	LogicalAudioSensorPlugin
	A plugin for logical audio detection. More...
class	LogicalCamera
	A logical camera sensor that reports objects detected within its frustum readings over gz transport. More...
class	LogPlayback
	Log state playback. More...
class	LogRecord
	Log state recorder. More...
class	LogVideoRecorder
	System which recordings videos from log playback There are two ways to specify what entities in the log playback to follow and record videos for: 1) by entity name and 2) by region. See the system parameters. More...
class	Magnetometer
	An magnetometer sensor that reports the magnetic field in its current location. More...
class	MecanumDrive
	Mecanum drive controller which can be attached to a model with any number of front/back left/right wheels. More...
class	ModelPhotoShoot
	This plugin is a port of the old ModelPropShop plugin from gazebo classic. It generates 5 pictures of a model: perspective, top, front, side and back. It can do it using the default position or moving the joint to random positions. It allows saving the camera and joint poses so it can be replicated in other systems. More...
class	MulticopterMotorModel
	This system applies a thrust force to models with spinning propellers. See examples/worlds/quadcopter.sdf for a demonstration. More...
class	MulticopterVelocityControl
	This is a velocity controller for multicopters that allows control over the linear velocity and the yaw angular velocity of the vehicle. The velocities are expressed in the body frame of the vehicle. A vehicle with at least 4 rotors is required for the controller to function. More...
class	NavSat
	System that handles navigation satellite sensors, such as GPS, that reports position and velocity in spherical coordinates (latitude / longitude) over Gazebo Transport. More...
class	OdometryPublisher
	Odometry Publisher which can be attached to any entity in order to periodically publish 2D or 3D odometry data in the form of gz::msgs::Odometry messages. More...
class	OpticalTactilePlugin
	Plugin that implements an optical tactile sensor. More...
class	ParticleEmitter
	A system for running and managing particle emitters. A particle emitter is defined using the <particle_emitter> SDF element. More...
class	PerfectComms
	An example of a comms model. This model always delivers any message to its destination. More...
class	PerformerDetector
	A system system that publishes on a topic when a performer enters or leaves a specified region. More...
class	Physics
	Base class for a System. More...
class	PosePublisher
	Pose publisher system. Attach to an entity to publish the transform of its child entities in the form of gz::msgs::Pose messages, or a single gz::msgs::Pose_V message if "use_pose_vector_msg" is true. More...
class	PythonSystemLoader
	Allows systems to be written in Python. More...
class	RFComms
	A comms model that simulates communication using radio frequency (RF) devices. The model uses a log-distance path loss function. More...
class	SceneBroadcaster
	System which periodically publishes a gz::msgs::Scene message with updated information. More...
class	Sensors
	A system that manages sensors. More...
class	ShaderParam
	A plugin for setting shaders to a visual and its params. More...
class	SpacecraftThrusterModel
	This system applies a thrust force to models with RCS-like thrusters. See tutorials/spacecraft_thrusters.md for a tutorial usage. Below follow the minimum necessary parameters needed by the plugin: More...
class	Thermal
	A thermal plugin that sets the temperature for the parent entity. More...
class	ThermalSensor
	A thermal sensor plugin for configuring thermal sensor properties. More...
class	Thruster
	This plugin simulates a maritime thruster for boats and underwater vehicles. It uses the equations described in Fossen's "Guidance and Control of Ocean Vehicles" in page 246. This plugin has two modes of operation. In the default mode it takes in a force in Newtons and applies it to the thruster. It also calculates the theoretical angular velocity of the blades and spins them accordingly. Alternatively, one may send angular velocity commands to calculate the force to be applied using the said equation. In the default mode the plugin will publish angular velocity in radians per second on /model/{ns}/joint/{joint_name}/ang_vel as a gz.msgs.double. If <use_angvel_cmd> is set to true it publishes force in Newtons instead to /model/{ns}/joint/{joint_name}/force. More...
class	TouchPlugin
	Plugin which publishes a message if the model it is attached to has touched one or more specified targets continuously during a given time. More...
class	TrackController
	Controller of a track on either a conveyor belt or a tracked vehicle. The system should be attached to a model. If implementing a tracked vehicle, use also TrackedVehicle system. More...
class	TrackedVehicle
	Tracked vehicle controller which can be attached to a model with any number of left and right tracks. The system should be attached to a model. Each track has to have a TrackController system configured and running. More...
class	TrajectoryFollower
	A plugin that scripts the movement of a model based on waypoints. Note that at this point, the trajectory is always in 2D (x, y). The plugin applies a torque until the model is aligned with the next waypoint. Then, it applies a force until the model is close enough to the waypoint. More...
class	TriggeredPublisher
	The triggered publisher system publishes a user specified message on an output topic in response to an input message that matches user specified criteria. It can also call a user specified service as an output in response to an input message. It currently supports blocking service call. An optional simulation time delay can be used delay message publication. More...
class	UserCommands
	This system provides a Gazebo Transport interface to execute commands while simulation is running. More...
class	VelocityControl
	Linear and angular velocity controller which is directly set on a model. More...
class	WheelSlip
	A system that updates wheel slip parameters based on linear wheel spin velocity (radius * spin rate). More...
class	WindEffects
	A system that simulates a simple wind model. The wind is described as a uniform worldwide model. Its components are computed separately: More...

Typedefs
using	ElevatorStateMachine = ::afsm::state_machine< ElevatorStateMachineDef >
	Elevator state machine backend. More...

Detailed Description

Namespace for all System plugins. Refer to the System class for more information about systems.

Typedef Documentation

ElevatorStateMachine

using ElevatorStateMachine = ::afsm::state_machine<ElevatorStateMachineDef>

Elevator state machine backend.