When migrating plugins from Gazebo-classic to Gazebo, developers will notice that the C++ APIs for both simulators are quite different. Be sure to check the plugin migration tutorial to get a high-level view of the architecture differences before using this guide.
This tutorial is meant to serve as a reference guide for developers migrating functions from the gazebo::rendering::Light class.
If you're trying to use some API which doesn't have an equivalent on Gazebo yet, feel free to ticket an issue.
Light API
Gazebo-classic has 2 Light classes:
gazebo::rendering::Light- responsible for accessing and setting light properties.- Example: Light::DiffuseColor / Light::SetDiffuseColor
gazebo::physics::Light- responsible for accessing and setting generic entity properties, and parent / child relationship.- Example: Light::GetName / Light::SetName
- Example: Light::GetParent / Light::SetParent
In Gazebo, the light APIs has been consolidated into a single Light class with some of generic functions available through other utility / core classes. You'll find the APIs below on the following headers:
It's worth remembering that most of this functionality can be performed using the EntityComponentManager directly.
As an example the Light::Pose() is a convienient function for querying the Pose component from the EntityComponentManager, i.e.
The functions presented in the sections below exist for convenience and readability. The items marked as TODO means that the equivalent API is not implemented yet in Gazebo.
Properties
Most of Gazebo-classic's Light API is related to setting and getting properties. These functions are great candidates to have equivalents on Gazebo because the Entity-Component-System architecture is perfect for setting components (properties) into entities such as lights. This section focuses on migrating from APIs provided through the gazebo::rendering::Light class.
| Classic | Gazebo |
|---|---|
| CastShadows | gz::sim::Light::CastShadows |
| Clone | TODO |
| DiffuseColor | gz::sim::Light::DiffuseColor |
| Direction | gz::sim::Light::Direction |
| FillMsg | TODO |
| Id | gz::sim::Light::Entity |
| LightType | gz::sim::Light::Type |
| Name | gz::sim::Light::Name |
| Position | gz::sim::Light::Pose |
| Rotation | gz::sim::Light::Pose |
| SetAttenuation | use gz::sim::Light::SetAttenuation* |
| SetCastShadows | gz::sim::Light::SetCastShadows |
| SetDiffuseColor | gz::sim::Light::SetDiffuseColor |
| SetDirection | gz::sim::Light::SetDirection |
| SetLightType | TODO |
| SetName | TODO |
| SetPosition | TODO |
| SetRange | gz::sim::Light::SetAttenuationRange |
| SetRotation | TODO |
| SetSelected | Selection is client-specific, not porting |
| SetSpecularColor | gz::sim::Light::SetSpecularColor |
| SetSpotFalloff | gz::sim::Light::SetSpotFalloff |
| SetSpotInnerAngle | gz::sim::Light::SetSpotInnerAngle |
| SetSpotOuterAngle | gz::sim::Light::SetSpotOuterAngle |
| SetVisible | TODO |
| ShowVisual | TODO |
| SpecularColor | gz::sim::Light::SetSpecularColor |
| ToggleShowVisual | TODO |
| Type | gz::sim::Light::Type |
| Visible | TODO |
| WorldPose | TODO |
Read family
These APIs deal with reading information related to child / parent relationships. As mentioned earlier, these APIs in Gazebo classic are provided by the gazebo::physics::Light class. Most of the APIs are inherited from the base gazebo::physics::Entity class in classic. We will only list the relevant ones here.
The main difference in these APIs across Gazebo generations is that on classic, they deal with shared pointers to entities, while on Gazebo, they deal with entity IDs.
| Classic | Gazebo |
|---|---|
| GetParent | gz::sim::Light::Parent |
| GetParentId | gz::sim::Light::Parent |
| GetWorld | gz::sim::worldEntity |
Write family
These functions deal with modifying the entity tree, attaching children to new parents. As mentioned earlier, these APIs in Gazebo classic are provided by the gazebo::physics::Light class. Most of the APIs are inherited from the base gazebo::physics::Entity class in classic. We will only list the relevant ones here. As seen below, APIs for changing a Light's entity tree structure are currently not implemented yet.
| Classic | Gazebo |
|---|---|
| AddChild | Not supported |
| RemoveChild | Not supported |
| RemoveChildren | Not supported |
| SetParent | TODO |
| SetWorld | TODO |
Lifecycle
These functions are related to the light's lifecycle, like loading and updating its properties.
| Classic | Gazebo |
|---|---|
| Load | gz::sim::SdfEntityCreator::CreateEntities |
| LoadFromMsg | gz::sim::SdfEntityCreator::CreateEntities |
| UpdateFromMsg | TODO |