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...

#include <Breadcrumbs.hh>

Public Member Functions
	Breadcrumbs ()=default
	Constructor.

void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system.

bool	MakeStatic (Entity _entity, EntityComponentManager &_ecm)
	Make an entity static.

void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override

Public Member Functions inherited from System
	System ()=default
	Constructor.

virtual	~System ()=default
	Destructor.

Public Attributes
std::unique_ptr< SdfEntityCreator >	creator {nullptr}
	Creator interface.

transport::Node::Publisher	remainingPub
	Publishes remaining deployments.

std::string	topic
	Name of the deploy topic.

bool	topicStatistics {false}
	True when topic statistics are enabled.

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.

Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.

static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

Detailed Description

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.

System Parameters

<topic>: Custom topic to be used to deploy breadcrumbs. If topic is not set, the default topic with the following pattern would be used /model/<model_name>/breadcrumbs/<breadcrumb_name>/deploy. The topic type is gz.msgs.Empty
<max_deployments>: The maximum number of times this breadcrumb can be deployed. Once this many are deployed, publishing on the deploy topic will have no effect. If a negative number is set, the maximum deployment will be unbounded. If a value of zero is used, then the breadcrumb system will be disabled. A zero value is useful for situations where SDF files are programmatically created. The remaining deployment count is available on the <topic>/remaining topic.
<disable_physics_time>: The time in which the breadcrumb entity's dynamics remain enabled. After his specified time, the breadcrumb will be made static. If this value is <= 0 or the param is not specified, the breadcrumb model's dynamics will not be modified.
<performer_volume>: Geometry that represents the bounding volume of the performer. Only <geometry><box> is supported currently. When this parameter is present, the deployed models will be performers.
<allow_renaming>: If true, the deployed model will be renamed if another model with the same name already exists in the world. If false and there is another model with the same name, the breadcrumb will not be deployed. Defaults to false.
<breadcrumb>: This is the model used as a template for deploying breadcrumbs.
<topic_statistics>: If true, then topic statistics are enabled on <topic> and error messages will be generated when messages are dropped. Default to false.

Constructor & Destructor Documentation

◆ Breadcrumbs()

Breadcrumbs ( )

default

Constructor.

Member Function Documentation

◆ Configure()

void Configure	(	const Entity &	_entity,
		const std::shared_ptr< const sdf::Element > &	_sdf,
		EntityComponentManager &	_ecm,
		EventManager &	_eventMgr
	)

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.

Implements ISystemConfigure.

◆ MakeStatic()

bool MakeStatic	(	Entity	_entity,
		EntityComponentManager &	_ecm
	)

Make an entity static.

Parameters

[in]	_entity	Entity to make static
[in]	_ecm	Entity component manager

Returns: True if operation is successful, false otherwise

◆ PreUpdate()

void PreUpdate	(	const UpdateInfo &	_info,
		EntityComponentManager &	_ecm
	)

overridevirtual

Implements ISystemPreUpdate.

Member Data Documentation

◆ creator

std::unique_ptr<SdfEntityCreator> creator {nullptr}

Creator interface.

◆ remainingPub

transport::Node::Publisher remainingPub

Publishes remaining deployments.

◆ topic

std::string topic

Name of the deploy topic.

◆ topicStatistics

bool topicStatistics {false}

True when topic statistics are enabled.

The documentation for this class was generated from the following file:

Breadcrumbs.hh

Gazebo Sim

API Reference

Public Member Functions

Public Attributes

Additional Inherited Members