| CActor | This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a actor entity |
| CAddressContent | All the information associated to an address |
| CAnimationTimeSerializer | |
| CAnimationUpdateData | Data structure for updating skeleton animations |
| ►CBaseComponent | Base class for all components |
| CComponent< DataType, Identifier, Serializer > | A component type that wraps any data type. The intention is for this class to be used to create simple components while avoiding a lot of boilerplate code. The Identifier must be a unique type so that type aliases can be used to create new components. However the type does not need to be defined anywhere eg |
| CComponent< NoData, Identifier, Serializer > | Specialization for components that don't wrap any data. This class to be used to create simple components that represent just a "tag", while avoiding a lot of boilerplate code. The Identifier must be a unique type so that type aliases can be used to create new components. However the type does not need to be defined anywhere eg |
| CBatteryPowerLoadInfo | Data structure to hold the consumer power load and the name of the battery it uses |
| CBroker | A class to store messages to be delivered using a comms model. This class should be used in combination with a specific comms model that implements the ICommsModel interface |
| CCabinAtTarget | Action that cleans up the target queue when the cabin reaches the target floor level |
| CCabinAtTarget | Event that signifies the cabin has reached the target floor level |
| CCabinAtTarget | Guard that checks whether the cabin is at the target floor level |
| CCanonicalLinkModelTracker | Helper class that keeps track of which models have a particular canonical link. This is useful in the physics system for updating model poses - if a canonical link moved in the most recent physics step, then all of the models that have this canonical link should be updated. It's important to preserve topological ordering of the models in case there's a nested model that shares the same canonical link (in a case like this, the parent model pose needs to be updated before updating the child model pose - see the documentation that explains how model pose updates are calculated in PhysicsPrivate::UpdateSim to understand why nested model poses need to be updated in topological order) |
| ►CComponentDescriptorBase | A base class for an object responsible for creating components |
| CComponentDescriptor< ComponentTypeT > | A class for an object responsible for creating components |
| CComponentDescriptorQueue | A class to hold the queue of component descriptors registered by translation units. This queue is necessary to ensure that component creation continues to work after plugins are unloaded. The typical scenario this aims to solve is: |
| CComponentToMsgSerializer< DataType, MsgType > | Serialization for that converts components data types to gz::msgs. This assumes that convert<DataType> is defined |
| CDefaultSerializer< DataType > | Default serializer template to call stream operators only on types that support them. If the stream operator is not available, a warning message is printed |
| CDefaultSerializer< components::NoData > | Specialization of DefaultSerializer for NoData |
| CDetachableJointInfo | Data structure to hold information about the parent and child links connected by a detachable joint |
| CDetachableJointInfoSerializer | Serializer for DetachableJointInfo object |
| CDisplay | Data used by the DisplayData() function to filter and sort the resources to be displayed |
| CDoorClosed | Event that signifies the door at the target floor level has been closed |
| CDoorOpen | Event that signifies the door at the target floor level has been opened |
| CDoorTimer | 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 |
| CEigenTwist | Struct containing linear and angular velocities |
| CElevatorStateMachinePrivate | |
| CEnqueueNewTarget< trigger > | Action that enqueues a new target in the target queue |
| CEnqueueNewTarget | Event that signifies there is a new target that needs to be enqueued |
| CEntityComponentManager | The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent |
| CEntityFeatureMap< PhysicsEntityT, PolicyT, RequiredFeatureList, OptionalFeatureLists > | |
| CEnvironmentalData | Environment data across time and space. This is useful to introduce physical quantities that may be of interest even if not modelled in simulation |
| CEnvironmentVisualizationTool | This class helps handle point cloud visuallizations of environment data |
| CEnvironmentVisualizationTool | This class helps handle point cloud visuallizations of environment data |
| CEventManager | The EventManager is used to send/receive notifications of simulator events |
| CFactory | A factory that generates a component based on a string type |
| ►Cfalse_type [external] | |
| CIsSharedPtr< T > | Helper trait to determine if a type is shared_ptr or not |
| CFrameData | Frame data of a link including its pose and linear velocity in world frame as well as its angular velocity in body frame |
| CHasGazeboConvert< In, Out > | Type trait that determines if a convert from In to Out is defined. Usage: |
| CIsInState< TargetState > | Guard that checks whether the state machine is in a given state |
| CIsInStreamable< Stream, DataType > | Type trait that determines if a operator>> is defined on Stream and DataType, i.e, it checks if the function Stream& operator>>(Stream&, DataType&) exists. Example: |
| CIsOutStreamable< Stream, DataType > | Type trait that determines if a operator<< is defined on Stream and DataType, i.e, it checks if the function Stream& operator<<(Stream&, const DataType&) exists. Example: |
| ►CISystemConfigure | Interface for a system that implements optional configuration |
| CEnvironmentalSensorSystem | Sensor for reading environmental data loaded from outside world. To use, add this system to the world file, then instantiate sensors of custom type with gz:type="environmental_sensor/{field_name}", where field_name refers to the type of data you would like to output. Alternatively, if you would like to specify a custom field name you may do so using the <environment_variable> tag |
| ►CICommsModel | Abstract interface to define how the environment should handle communication simulation. As an example, this class could be responsible for handling dropouts, decay and packet collisions |
| CAcousticComms | A comms model that simulates communication using acoustic devices. The model uses simple distance based acoustics model |
| CPerfectComms | An example of a comms model. This model always delivers any message to its destination |
| CRFComms | A comms model that simulates communication using radio frequency (RF) devices. The model uses a log-distance path loss function |
| CAckermannSteering | Ackermann steering controller which can be attached to a model with any number of left and right wheels |
| CAdvancedLiftDrag | The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots |
| CApplyJointForce | This system applies a force to the first axis of a specified joint |
| CApplyLinkWrench | Exposes transport topics and SDF params for applying forces and torques to links in simulation. It should be attached to a world |
| CBreadcrumbs | 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 |
| CBuoyancy | 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 |
| CBuoyancyEnginePlugin | 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 |
| CCameraVideoRecorder | Record video from a camera sensor |
| CCommsEndpoint | 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 |
| CDetachableJoint | 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 |
| CDiffDrive | Differential drive controller which can be attached to a model with any number of left and right wheels |
| CDopplerVelocityLogSystem | System that creates and updates DopplerVelocityLog (DVL) sensors |
| CElevator | 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 |
| CEnvironmentPreload | A plugin to preload an Environment component into the ECM upon simulation start-up |
| CFollowActor | Make an actor follow a target entity in the world |
| CHydrodynamics | 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 |
| CJointController | 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 |
| CJointPositionController | Joint position controller which can be attached to a model with a reference to a single joint |
| CJointStatePublisher | 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 |
| CJointTrajectoryController | 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 |
| CKineticEnergyMonitor | 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 |
| CLabel | 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 |
| CLensFlare | Add lens flare effects to the camera output as a render pass |
| CLiftDrag | The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots |
| CLighterThanAirDynamics | 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 |
| CLinearBatteryPlugin | A plugin for simulating battery usage |
| CLogPlayback | Log state playback |
| CLogRecord | Log state recorder |
| CLogVideoRecorder | 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 |
| CLogicalAudioSensorPlugin | A plugin for logical audio detection |
| CMagnetometer | An magnetometer sensor that reports the magnetic field in its current location |
| CMecanumDrive | Mecanum drive controller which can be attached to a model with any number of front/back left/right wheels |
| CModelPhotoShoot | 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 |
| CMulticopterMotorModel | This system applies a thrust force to models with spinning propellers. See examples/worlds/quadcopter.sdf for a demonstration |
| CMulticopterVelocityControl | 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 |
| COdometryPublisher | 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 |
| COpticalTactilePlugin | Plugin that implements an optical tactile sensor |
| CParticleEmitter | A system for running and managing particle emitters. A particle emitter is defined using the <particle_emitter> SDF element |
| CPerformerDetector | A system system that publishes on a topic when a performer enters or leaves a specified region |
| CPhysics | Base class for a System |
| CPosePublisher | 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 |
| CPythonSystemLoader | Allows systems to be written in Python |
| CSceneBroadcaster | System which periodically publishes a gz::msgs::Scene message with updated information |
| CSensors | A system that manages sensors |
| CShaderParam | A plugin for setting shaders to a visual and its params |
| CSpacecraftThrusterModel | 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: |
| CThermal | A thermal plugin that sets the temperature for the parent entity |
| CThermalSensor | A thermal sensor plugin for configuring thermal sensor properties |
| CThruster | 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 |
| CTouchPlugin | Plugin which publishes a message if the model it is attached to has touched one or more specified targets continuously during a given time |
| CTrackController | 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 |
| CTrackedVehicle | 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 |
| CTrajectoryFollower | 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 |
| CTriggeredPublisher | 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 |
| CUserCommands | This system provides a Gazebo Transport interface to execute commands while simulation is running |
| CVelocityControl | Linear and angular velocity controller which is directly set on a model |
| CWheelSlip | A system that updates wheel slip parameters based on linear wheel spin velocity (radius * spin rate) |
| CWindEffects | A system that simulates a simple wind model. The wind is described as a uniform worldwide model. Its components are computed separately: |
| CISystemConfigureParameters | Interface for a system that declares parameters |
| ►CISystemConfigurePriority | |
| CForceTorque | This system manages all Force-Torque sensors in simulation. Each FT sensor reports readings over Gazebo Transport |
| CPhysics | Base class for a System |
| CUserCommands | This system provides a Gazebo Transport interface to execute commands while simulation is running |
| ►CISystemPostUpdate | Interface for a system that uses the PostUpdate phase |
| CEnvironmentalSensorSystem | Sensor for reading environmental data loaded from outside world. To use, add this system to the world file, then instantiate sensors of custom type with gz:type="environmental_sensor/{field_name}", where field_name refers to the type of data you would like to output. Alternatively, if you would like to specify a custom field name you may do so using the <environment_variable> tag |
| CAckermannSteering | Ackermann steering controller which can be attached to a model with any number of left and right wheels |
| CAirPressure | An air pressure sensor that reports vertical position and velocity readings over gz transport |
| CAirSpeed | An air speed sensor that reports vertical position and velocity readings over gz transport |
| CAltimeter | An altimeter sensor that reports vertical position and velocity readings over gz transport |
| CBuoyancy | 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 |
| CCameraVideoRecorder | Record video from a camera sensor |
| CColladaWorldExporter | 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 |
| CContact | Contact sensor system which manages all contact sensors in simulation |
| CDiffDrive | Differential drive controller which can be attached to a model with any number of left and right wheels |
| CDopplerVelocityLogSystem | System that creates and updates DopplerVelocityLog (DVL) sensors |
| CElevator | 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 |
| CHydrodynamics | 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 |
| CImu | This system manages all IMU sensors in simulation. Each IMU sensor eports vertical position, angular velocity and lienar acceleration readings over Gazebo Transport |
| CJointStatePublisher | 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 |
| CKineticEnergyMonitor | 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 |
| CLinearBatteryPlugin | A plugin for simulating battery usage |
| CLogRecord | Log state recorder |
| CLogVideoRecorder | 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 |
| CLogicalAudioSensorPlugin | A plugin for logical audio detection |
| CLogicalCamera | A logical camera sensor that reports objects detected within its frustum readings over gz transport |
| CMagnetometer | An magnetometer sensor that reports the magnetic field in its current location |
| CMecanumDrive | Mecanum drive controller which can be attached to a model with any number of front/back left/right wheels |
| CNavSat | System that handles navigation satellite sensors, such as GPS, that reports position and velocity in spherical coordinates (latitude / longitude) over Gazebo Transport |
| COdometryPublisher | 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 |
| COpticalTactilePlugin | Plugin that implements an optical tactile sensor |
| CPerformerDetector | A system system that publishes on a topic when a performer enters or leaves a specified region |
| CPosePublisher | 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 |
| CPythonSystemLoader | Allows systems to be written in Python |
| CSceneBroadcaster | System which periodically publishes a gz::msgs::Scene message with updated information |
| CSensors | A system that manages sensors |
| CThruster | 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 |
| CTouchPlugin | Plugin which publishes a message if the model it is attached to has touched one or more specified targets continuously during a given time |
| CTrackController | 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 |
| CTrackedVehicle | 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 |
| CVelocityControl | Linear and angular velocity controller which is directly set on a model |
| ►CISystemPreUpdate | Interface for a system that uses the PreUpdate phase |
| CEnvironmentalSensorSystem | Sensor for reading environmental data loaded from outside world. To use, add this system to the world file, then instantiate sensors of custom type with gz:type="environmental_sensor/{field_name}", where field_name refers to the type of data you would like to output. Alternatively, if you would like to specify a custom field name you may do so using the <environment_variable> tag |
| CICommsModel | Abstract interface to define how the environment should handle communication simulation. As an example, this class could be responsible for handling dropouts, decay and packet collisions |
| CAckermannSteering | Ackermann steering controller which can be attached to a model with any number of left and right wheels |
| CAdvancedLiftDrag | The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots |
| CAirPressure | An air pressure sensor that reports vertical position and velocity readings over gz transport |
| CAirSpeed | An air speed sensor that reports vertical position and velocity readings over gz transport |
| CAltimeter | An altimeter sensor that reports vertical position and velocity readings over gz transport |
| CApplyJointForce | This system applies a force to the first axis of a specified joint |
| CApplyLinkWrench | Exposes transport topics and SDF params for applying forces and torques to links in simulation. It should be attached to a world |
| CBreadcrumbs | 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 |
| CBuoyancy | 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 |
| CBuoyancyEnginePlugin | 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 |
| CCommsEndpoint | 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 |
| CContact | Contact sensor system which manages all contact sensors in simulation |
| CDetachableJoint | 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 |
| CDiffDrive | Differential drive controller which can be attached to a model with any number of left and right wheels |
| CDopplerVelocityLogSystem | System that creates and updates DopplerVelocityLog (DVL) sensors |
| CEnvironmentPreload | A plugin to preload an Environment component into the ECM upon simulation start-up |
| CFollowActor | Make an actor follow a target entity in the world |
| CForceTorque | This system manages all Force-Torque sensors in simulation. Each FT sensor reports readings over Gazebo Transport |
| CHydrodynamics | 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 |
| CImu | This system manages all IMU sensors in simulation. Each IMU sensor eports vertical position, angular velocity and lienar acceleration readings over Gazebo Transport |
| CJointController | 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 |
| CJointPositionController | Joint position controller which can be attached to a model with a reference to a single joint |
| CJointTrajectoryController | 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 |
| CLiftDrag | The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots |
| CLighterThanAirDynamics | 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 |
| CLinearBatteryPlugin | A plugin for simulating battery usage |
| CLogRecord | Log state recorder |
| CLogicalAudioSensorPlugin | A plugin for logical audio detection |
| CLogicalCamera | A logical camera sensor that reports objects detected within its frustum readings over gz transport |
| CMagnetometer | An magnetometer sensor that reports the magnetic field in its current location |
| CMecanumDrive | Mecanum drive controller which can be attached to a model with any number of front/back left/right wheels |
| CModelPhotoShoot | 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 |
| CMulticopterMotorModel | This system applies a thrust force to models with spinning propellers. See examples/worlds/quadcopter.sdf for a demonstration |
| CMulticopterVelocityControl | 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 |
| CNavSat | System that handles navigation satellite sensors, such as GPS, that reports position and velocity in spherical coordinates (latitude / longitude) over Gazebo Transport |
| COdometryPublisher | 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 |
| COpticalTactilePlugin | Plugin that implements an optical tactile sensor |
| CParticleEmitter | A system for running and managing particle emitters. A particle emitter is defined using the <particle_emitter> SDF element |
| CPythonSystemLoader | Allows systems to be written in Python |
| CShaderParam | A plugin for setting shaders to a visual and its params |
| CSpacecraftThrusterModel | 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: |
| CThruster | 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 |
| CTouchPlugin | Plugin which publishes a message if the model it is attached to has touched one or more specified targets continuously during a given time |
| CTrackController | 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 |
| CTrackedVehicle | 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 |
| CTrajectoryFollower | 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 |
| CTriggeredPublisher | 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 |
| CUserCommands | This system provides a Gazebo Transport interface to execute commands while simulation is running |
| CVelocityControl | Linear and angular velocity controller which is directly set on a model |
| CWheelSlip | A system that updates wheel slip parameters based on linear wheel spin velocity (radius * spin rate) |
| CWindEffects | A system that simulates a simple wind model. The wind is described as a uniform worldwide model. Its components are computed separately: |
| ►CISystemReset | |
| CLogPlayback | Log state playback |
| CPhysics | Base class for a System |
| CPythonSystemLoader | Allows systems to be written in Python |
| CSceneBroadcaster | System which periodically publishes a gz::msgs::Scene message with updated information |
| CSensors | A system that manages sensors |
| CTouchPlugin | Plugin which publishes a message if the model it is attached to has touched one or more specified targets continuously during a given time |
| ►CISystemUpdate | Interface for a system that uses the Update phase |
| CForceTorque | This system manages all Force-Torque sensors in simulation. Each FT sensor reports readings over Gazebo Transport |
| CLinearBatteryPlugin | A plugin for simulating battery usage |
| CLogPlayback | Log state playback |
| CPhysics | Base class for a System |
| CPythonSystemLoader | Allows systems to be written in Python |
| CSensors | A system that manages sensors |
| CJoint | This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a joint entity |
| CJointMonitor | 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 |
| CJointTypeSerializer | |
| CLeeVelocityController | |
| CLeeVelocityControllerParameters | Data structure containing various parameters for the Lee velocity controller |
| CLevelEntityNamesSerializer | |
| CLight | This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a light entity |
| CLink | This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a link entity |
| CLogicalAudioSourcePlayInfoSerializer | Serializer for components::LogicalAudioSourcePlayInfo object |
| CLogicalAudioSourceSerializer | Serializer for components::LogicalAudioSource object |
| CLogicalMicrophoneSerializer | Serializer for components::LogicalMicrophone object |
| CMarkerManager | Creates, deletes, and maintains marker visuals. Only the Scene class should instantiate and use this class |
| CMicrophone | Properties of a logical audio microphone. A microphone also has a pose, which can be stored as a component of a microphone entity via components::Pose |
| CModel | This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a model entity |
| CMsgManager | Class to handle messages and subscriptions |
| CMsgSerializer | Serializer for components that hold protobuf messages |
| CNewTarget | Action that cleans up the target queue when a new target is processed |
| CNewTarget | Event that signifies a new target will be processed |
| CNoiseParameters | Noise parameters used when computing frame data. These are all assumed to be gaussian |
| CNoQueuedTarget | Guard that checks whether the target queue is empty |
| COpticalTactilePluginVisualization | |
| CPerformerLevelsSerializer | |
| CPlotComponent | A container of the component data that keeps track of the registered attributes and update their values and their registered charts |
| CServerConfig::PluginInfo | Information about a plugin that should be loaded by the server |
| ►CQEvent | |
| CDeselectAllEntities | Event that notifies when all entities have been deselected |
| CEntitiesSelected | Event that notifies when new entities have been selected |
| CGuiNewRemovedEntities | Event that contains entities newly created or removed from the GUI, but that aren't present on the server yet |
| CModelEditorAddEntity | Event that notifies an entity is to be added to the model editor |
| CNewRemovedEntities | Event that notifies when new entities have been created or removed on the server. This is a duplication of what GuiSystems would get from EachNew / EachRemoved ECM calls |
| CTransformControlModeActive | True if a transform control is currently active (translate / rotate / scale). False if we're in selection mode |
| CVisualPlugins | Event that notifies a visual plugin is to be loaded |
| ►CQObject | |
| ►CPlugin [external] | |
| CBananaForScale | Provides buttons for adding a banana for scale |
| CEntityContextMenu | This plugin is in charge of showing the entity context menu when the right button is clicked on a visual |
| ►CGuiSystem | Base class for a GUI System |
| CAlignTool | Provides buttons for the align tool |
| CApplyForceTorque | Publish wrench to "/world/<world_name>/wrench" topic. Automatically loads the ApplyLinkWrench system |
| CCopyPaste | Plugin for copying/pasting entities in the GUI |
| CEntityTree | Displays a tree view with all the entities in the world |
| CEnvironmentLoader | A GUI plugin for a user to load an Environment component into the ECM on a live simulation |
| CEnvironmentVisualization | A GUI plugin for a user to load an Environment component into the ECM on a live simulation |
| CGlobalIlluminationCiVct | Enable and configure Global Illumination using CIVCT (Cascaded Image Voxel Cone Tracing) |
| CGlobalIlluminationVct | Enable and configure Global Illumination using VCT (Voxel Cone Tracing) |
| CVisualizeContacts | Visualize the contacts returned by the Physics plugin. Use the checkbox to turn visualization on or off and spin boxes to change the size of the markers |
| CVisualizeLidar | Visualize the LaserScan message returned by the sensors. Use the checkbox to turn visualization of non-hitting rays on or off and the textfield to select the message to be visualised. The combobox is used to select the type of visual for the sensor data |
| CGzSceneManager | Updates a 3D scene based on information coming from the ECM. This plugin doesn't instantiate a new 3D scene. Instead, it relies on another plugin being loaded alongside it that will create and paint the scene to the window, such as gz::gui::plugins::MinimalScene |
| CMouseDrag | Translate and rotate links by dragging them with the mouse. Automatically loads the ApplyLinkWrench system |
| CPlaybackScrubber | Provides slider and functionality for log playback. to the scene |
| CPlotting | Physics data plotting handler that keeps track of the registered components, update them and update the plot |
| CVideoRecorder | Provides video recording cababilities to the 3D scene |
| CVisualizationCapabilities | Allows to visualize transparent, collisions, inertial, CoM and more |
| CPlot3D | Plot the trajectory of an entity into the 3D scene |
| CLights | Provides buttons for adding a point, directional, or spot light to the scene |
| CResourceSpawner | Provides interface for communicating to backend for generation of local models |
| CShapes | Provides buttons for adding a box, sphere, or cylinder to the scene |
| CSpawn | Allows to spawn models and lights using the spawn gui events or drag and drop |
| CTransformControl | Provides buttons for translation, rotation, and scale |
| CViewAngle | Provides buttons for viewing angles |
| CSelectEntities | This plugin is in charge of selecting and deselecting the entities from the 3D scene and emit the corresponding events |
| CAirPressure | A class that handles air pressure changes |
| CAltimeter | A class that handles altimeter changes |
| CEntityContextMenuHandler | |
| CImu | A class that handles IMU sensor changes |
| CJointType | A class that handles joint changes |
| CLidar | A class that handles Lidar sensor changes |
| CMagnetometer | A class that handles magnetometer changes |
| CModelEditor | Model Editor |
| CPose3d | A class that handles Pose3d changes |
| CInertial | A class that handles Inertial components |
| CPose3d | Handles components that are displayed as a 3D pose: |
| CSystemPluginInfo | A class that handles SystemPluginInfo components |
| ►CQQmlExtensionPlugin | |
| CGzSimPlugin | GzSim QML Plugin that registers C++ class so that they are accessible from QML |
| ►CQQuickItem | |
| CEntityContextMenu | This plugin is in charge of showing the entity context menu when the right button is clicked on a visual |
| CEntityContextMenuItem | A QQUickItem that manages the render window |
| ►CQStandardItemModel | |
| CPathModel | Provides a model by which the resource spawner qml plugin pulls and updates from |
| CResourceModel | Provides a model by which the resource spawner qml plugin pulls and updates from |
| CTreeModel | TODO |
| CRegistrationObjectId | A wrapper around uintptr_t to prevent implicit conversions |
| CRenderUtil | |
| CResource | Resource used to update the ResourceModel |
| CRotor | A struct that holds various properties of a rotor |
| CSceneManager | Scene manager class for loading and managing objects in the scene |
| CSdfElementSerializer | |
| CSdfEntityCreator | Provides convenient functions to spawn entities and load their plugins from SDF elements, to remove them, and to change their hierarchy |
| CSdfModelSerializer | |
| CSensor | This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a sensor entity |
| CServer | The server instantiates and controls simulation |
| CServerConfig | Configuration parameters for a Server. An instance of this object can be used to construct a Server with a particular configuration |
| CSource | Properties of a logical audio source. A source also has a pose, which can be stored as a component of a source entity via components::Pose |
| CSourcePlayInfo | A source's playing information. Useful for keeping track of when to start/stop playing a source |
| ►Cstate | |
| CElevatorStateMachineDef::IdleState | State at which the elevator is idling |
| CElevatorStateMachineDef::MoveCabinState | State at which the elevator is moving the cabin to the target floor |
| CElevatorStateMachineDef::WaitState | State at which the elevator is waiting with a door open |
| ►Cstate_machine | |
| CElevatorStateMachineDef | Elevator state machine frontend. Defines the transition table and initial state of the state machine |
| CStringSerializer | Serializer for components that hold std::string |
| ►CSystem | Base class for a System |
| CEnvironmentalSensorSystem | Sensor for reading environmental data loaded from outside world. To use, add this system to the world file, then instantiate sensors of custom type with gz:type="environmental_sensor/{field_name}", where field_name refers to the type of data you would like to output. Alternatively, if you would like to specify a custom field name you may do so using the <environment_variable> tag |
| CICommsModel | Abstract interface to define how the environment should handle communication simulation. As an example, this class could be responsible for handling dropouts, decay and packet collisions |
| CAckermannSteering | Ackermann steering controller which can be attached to a model with any number of left and right wheels |
| CAdvancedLiftDrag | The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots |
| CAirPressure | An air pressure sensor that reports vertical position and velocity readings over gz transport |
| CAirSpeed | An air speed sensor that reports vertical position and velocity readings over gz transport |
| CAltimeter | An altimeter sensor that reports vertical position and velocity readings over gz transport |
| CApplyJointForce | This system applies a force to the first axis of a specified joint |
| CApplyLinkWrench | Exposes transport topics and SDF params for applying forces and torques to links in simulation. It should be attached to a world |
| CBreadcrumbs | 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 |
| CBuoyancy | 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 |
| CBuoyancyEnginePlugin | 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 |
| CCameraVideoRecorder | Record video from a camera sensor |
| CColladaWorldExporter | 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 |
| CCommsEndpoint | 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 |
| CContact | Contact sensor system which manages all contact sensors in simulation |
| CDetachableJoint | 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 |
| CDiffDrive | Differential drive controller which can be attached to a model with any number of left and right wheels |
| CDopplerVelocityLogSystem | System that creates and updates DopplerVelocityLog (DVL) sensors |
| CElevator | 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 |
| CEnvironmentPreload | A plugin to preload an Environment component into the ECM upon simulation start-up |
| CFollowActor | Make an actor follow a target entity in the world |
| CForceTorque | This system manages all Force-Torque sensors in simulation. Each FT sensor reports readings over Gazebo Transport |
| CHydrodynamics | 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 |
| CImu | This system manages all IMU sensors in simulation. Each IMU sensor eports vertical position, angular velocity and lienar acceleration readings over Gazebo Transport |
| CJointController | 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 |
| CJointPositionController | Joint position controller which can be attached to a model with a reference to a single joint |
| CJointStatePublisher | 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 |
| CJointTrajectoryController | 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 |
| CKineticEnergyMonitor | 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 |
| CLabel | 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 |
| CLensFlare | Add lens flare effects to the camera output as a render pass |
| CLiftDrag | The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots |
| CLighterThanAirDynamics | 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 |
| CLinearBatteryPlugin | A plugin for simulating battery usage |
| CLogPlayback | Log state playback |
| CLogRecord | Log state recorder |
| CLogVideoRecorder | 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 |
| CLogicalAudioSensorPlugin | A plugin for logical audio detection |
| CLogicalCamera | A logical camera sensor that reports objects detected within its frustum readings over gz transport |
| CMagnetometer | An magnetometer sensor that reports the magnetic field in its current location |
| CMecanumDrive | Mecanum drive controller which can be attached to a model with any number of front/back left/right wheels |
| CModelPhotoShoot | 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 |
| CMulticopterMotorModel | This system applies a thrust force to models with spinning propellers. See examples/worlds/quadcopter.sdf for a demonstration |
| CMulticopterVelocityControl | 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 |
| CNavSat | System that handles navigation satellite sensors, such as GPS, that reports position and velocity in spherical coordinates (latitude / longitude) over Gazebo Transport |
| COdometryPublisher | 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 |
| COpticalTactilePlugin | Plugin that implements an optical tactile sensor |
| CParticleEmitter | A system for running and managing particle emitters. A particle emitter is defined using the <particle_emitter> SDF element |
| CPerformerDetector | A system system that publishes on a topic when a performer enters or leaves a specified region |
| CPhysics | Base class for a System |
| CPosePublisher | 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 |
| CPythonSystemLoader | Allows systems to be written in Python |
| CSceneBroadcaster | System which periodically publishes a gz::msgs::Scene message with updated information |
| CSensors | A system that manages sensors |
| CShaderParam | A plugin for setting shaders to a visual and its params |
| CSpacecraftThrusterModel | 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: |
| CThermal | A thermal plugin that sets the temperature for the parent entity |
| CThermalSensor | A thermal sensor plugin for configuring thermal sensor properties |
| CThruster | 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 |
| CTouchPlugin | Plugin which publishes a message if the model it is attached to has touched one or more specified targets continuously during a given time |
| CTrackController | 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 |
| CTrackedVehicle | 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 |
| CTrajectoryFollower | 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 |
| CTriggeredPublisher | 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 |
| CUserCommands | This system provides a Gazebo Transport interface to execute commands while simulation is running |
| CVelocityControl | Linear and angular velocity controller which is directly set on a model |
| CWheelSlip | A system that updates wheel slip parameters based on linear wheel spin velocity (radius * spin rate) |
| CWindEffects | A system that simulates a simple wind model. The wind is described as a uniform worldwide model. Its components are computed separately: |
| CSystemLoader | Class for loading/unloading System plugins |
| CTemperatureRangeInfo | Data structure to hold a temperature range, in kelvin |
| CTemperatureRangeInfoSerializer | Serializer for components::TemperatureRangeInfo object |
| CTestFixture | Helper class to write automated tests. It provides a convenient API to load a world file, step simulation and check entities and components |
| CTimeout | Event that signifies the door at the target floor level has remained open for the required amount of time |
| ►Ctrue_type [external] | |
| CIsSharedPtr< std::shared_ptr< T > > | Helper trait to determine if a type is shared_ptr or not |
| CUpdateInfo | Information passed to systems on the update callback |
| CVectorDoubleSerializer | Serializer for components that hold std::vector<double> |
| CVectorSerializer< T > | |
| CVehicleParameters | A struct that holds properties of the vehicle such as mass, inertia and rotor configuration. Gravity is also included even though it's not a parameter unique to the vehicle |
| CWorld | This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a world entity |
