##

gazebo Namespace Reference

Forward declarations for the common classes. More...

## Namespaces

| client
| common
| Common namespace.
| event
| Event namespace.
| gui
| gui namespace
| msgs
| Messages namespace.
| physics
| namespace for physics
| rendering
| Rendering namespace.
| sensors
| Sensors namespace.
| transport
| util

## Classes

class | ActorPlugin
class | ActuatorPlugin
| Plugin for simulating a torque-speed curve for actuators. More...
class | ActuatorProperties
| Properties for a model of a rotational actuator. More...
class | AmbientOcclusionVisualPlugin
| Plugin that creates an ambient occlusion effect The current implementation uses the Crease Shading method ported from OGRE. More...
class | ArduCopterPlugin
| Interface ArduCopter from ardupilot stack modeled after SITL/SIM_*. More...
class | ArrangePlugin
class | AttachLightPlugin
| A model plugin that enables multiple lights in the world to be attached to links within the model. More...
class | BlinkVisualPlugin
| Plugin that makes a visual blink between two colors. More...
class | BreakableJointPlugin
| A plugin for breakable joints, based on a ForceTorque sensor plugin. More...
class | BuoyancyPlugin
| A plugin that simulates buoyancy of an object immersed in fluid. More...
class | CameraPlugin
class | CartDemoPlugin
| This plugin drives a four wheeled cart model forward and back by applying a small wheel torque. More...
class | CessnaGUIPlugin
| A GUI plugin that controls the Cessna model using the keyboard. More...
class | CessnaPlugin
| Allow moving the control surfaces of a Cessna C-172 plane. More...
class | ContactPlugin
| A plugin for a contact sensor. More...
class | ContainPlugin
| Plugin which emits Ignition Transport messages according to whether an entity's origin is inside or outside a given volume. More...
class | DepthCameraPlugin
class | DiffDrivePlugin
class | ElevatorPlugin
| Plugin to control a elevator. More...
class | EventSource
| The base class for emitting SimEvents. More...
class | ExistenceEventSource
class | FiducialCameraPlugin
| A camera sensor plugin for fiducial detection A fiducial is detected if its center is within the camera frustum and not occluded by other models in the view. More...
class | FlashLightPlugin
| A plugin that blinks a light component in the model. More...
class | FlashLightSetting
| Internal data class to hold individual flash light settings. More...
class | FollowerPlugin
| A simple object follower that finds the closest object in a depth image and commands a differential drive vehicle to move towards the object. More...
class | ForceTorquePlugin
| An base class plugin for custom force torque sensor processing. More...
class | GimbalSmall2dPlugin
| A plugin for controlling the angle of a gimbal joint. More...
class | GpuRayPlugin
class | GravityCompensationPlugin
| Plugin that provides gravity compensation. More...
class | GUIPlugin
| A plugin loaded within the gzclient on startup. More...
class | HarnessPlugin
| This plugin is designed to lower a model at a controlled rate. More...
class | HeightmapLODPlugin
| Plugin that sets the heightmap LOD. More...
class | HydraDemoPlugin
class | ImuSensorPlugin
| An base class plugin for custom imu sensor processing. More...
class | InitialVelocityPlugin
class | InRegionEventSource
| The event generator class. More...
class | JointControlPlugin
| Plugin that initializes joint controllers. More...
class | JointEventSource
| The event generator class. More...
class | JointTrajectoryPlugin
class | JoyPlugin
| The JoyPlugin connects to a joystick or gamepad, and transmits data from the joystick over an Ignition Transport topic. More...
class | KeyboardGUIPlugin
| A GUI plugin that captures key strokes from gzclient GUI and publishes over gz transport topic `~/keyboard/keypress` More...
struct | KeyInfo
| Store information from SDF for each key. More...
class | KeysToCmdVelPlugin
| Send velocity commands to a model based on keypress messages received. More...
class | KeysToJointsPlugin
| Control joints in a model based on keypress messages received. More...
class | LedPlugin
| A plugin that blinks light and visual elements in a model. More...
class | LedSetting
| Internal data class to hold individual LED light settings. More...
class | LensFlareSensorPlugin
| Plugin that adds lens flare effect to a camera or multicamera sensor The plugin has the following optional parameter: <scale> Scale of lens flare. More...
class | LiftDragPlugin
| A plugin that simulates lift and drag. More...
class | LinearBatteryConsumerPlugin
| A plugin that manages a linear battery consumer. More...
class | LinearBatteryPlugin
| A plugin that simulates a linear battery. More...
class | LinkPlot3DPlugin
| A plugin that traces the trajectory of a link in the rendering scene. More...
class | LookAtDemoPlugin
| A GUI plugin that demos the ignition::math::Matrix4<T>::LookAt function. More...
class | Master
| A manager that directs topic connections, enables each gazebo network client to locate one another for peer-to-peer communication. More...
class | MisalignmentPlugin
| Plugin which emits gazebo transport message indicating the alignment of two poses. More...
class | ModelPlugin
| A plugin with access to physics::Model. More...
class | ModelPropShop
| This plugin will generate 5 pictures of a model: perspective, top, front, side, back. More...
class | ModelResourceRetriever
class | MudPlugin
class | OccupiedEventSource
| A plugin that transmits a message when an in-region event occurs. More...
class | PlaneDemoPlugin
| A plugin that simulates lift and drag. More...
class | PluginT
| A class which all plugins must inherit from. More...
class | PressurePlugin
| A plugin for a tactile pressure sensor. More...
class | RandomVelocityPlugin
| Plugin that applies a random velocity to a linke periodically. More...
class | RayPlugin
| A Ray Sensor Plugin. More...
class | RaySensorNoisePlugin
| A Ray Sensor Noise Plugin. More...
class | RazerHydra
class | Region
| A region, made of a list of boxes. More...
class | RegionEventBoxPlugin
| A plugin that fires an event when another model enters the region defined by the size of this model's box visual. More...
class | RenderingFixture
class | RestApi
| REST interface. More...
class | RestException
class | RestUiPlugin
| REST user interface plugin. More...
class | RestUiWidget
| REST user interface widget. More...
class | RestWebPlugin
| REST web plugin. More...
class | RubblePlugin
class | SensorPlugin
| A plugin with access to physics::Sensor. See reference. More...
class | Server
class | ServerFixture
class | ShaderParamVisualPlugin
| A plugin that demonstrates how to set shader parameters of a material used by a visual. More...
class | SimEventConnector
| Gazebo events to detect model creation/deletion. More...
class | SimEventsException
class | SimEventsPlugin
class | SimpleTrackedVehiclePlugin
| A very fast, but also very accurate model of non-deformable tracks without grousers. More...
class | SimStateEventSource
| SimEvent that fires when the simulation is paused/resumed. More...
class | SkidSteerDrivePlugin
| A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic. More...
class | SonarPlugin
| A sonar sensor plugin. More...
class | SphereAtlasDemoPlugin
class | StaticMapPlugin
| A plugin that creates a model with textured map images. More...
class | SystemPlugin
| A plugin loaded within the gzserver on startup. More...
class | TimerGUIPlugin
| A GUI plugin that displays a timer. More...
class | TouchPlugin
| Plugin which checks if this model has touched some specific target for a given time continuously and exclusively. More...
class | TrackedVehiclePlugin
| An abstract gazebo model plugin for tracked vehicles. More...
class | TransporterPlugin
| A plugin that allows models to transport (teleport) to a new location. More...
class | VariableGearboxPlugin
| A plugin that uses piecewise cubic Hermite splines to support arbitrary smooth input-output relationships between the input and output angles of a gearbox. More...
class | VehiclePlugin
class | VisualPlugin
| A plugin with access to rendering::Visual. More...
class | VolumeProperties
| A class for storing the volume properties of a link. More...
class | WheelSlipPlugin
| A plugin that updates ODE wheel slip parameters based on linear wheel spin velocity (radius * spin rate). More...
class | WheelTrackedVehiclePlugin
| An approximate model of non-deformable tracks emulated by wheels. More...
class | WindPlugin
| A plugin that simulates a simple wind model. More...
class | WorldPlugin
| A plugin with access to physics::World. See reference. More...

## Typedefs

typedef std::shared_ptr< EventSource > | EventSourcePtr
typedef boost::shared_ptr< GUIPlugin > | GUIPluginPtr
typedef boost::shared_ptr< ModelPlugin > | ModelPluginPtr
using | ModelResourceRetrieverPtr = std::shared_ptr< ModelResourceRetriever >
typedef std::shared_ptr< Region > | RegionPtr
typedef boost::shared_ptr< SensorPlugin > | SensorPluginPtr
typedef boost::shared_ptr< SystemPlugin > | SystemPluginPtr
typedef boost::shared_ptr< VisualPlugin > | VisualPluginPtr
typedef boost::shared_ptr< WorldPlugin > | WorldPluginPtr

## Enumerations

enum | PluginType { WORLD_PLUGIN, MODEL_PLUGIN, SENSOR_PLUGIN, SYSTEM_PLUGIN, VISUAL_PLUGIN, GUI_PLUGIN }
| Used to specify the type of plugin. More...
enum | Tracks : bool { LEFT, RIGHT }
| Enum for distinguishing between left and right tracks. More...

## Functions

GAZEBO_VISIBLE void | addPlugin (const std::string &_filename)
| Add a system plugin. More...
std::string | custom_exec (std::string _cmd)
GAZEBO_VISIBLE gazebo::physics::WorldPtr | loadWorld (const std::string &_worldFile)
| Create and load a new world from an SDF world file. More...
GAZEBO_VISIBLE void | printVersion ()
| Output version information to the terminal. More...
GAZEBO_VISIBLE void | runWorld (gazebo::physics::WorldPtr _world, unsigned int _iterations)
| Run a world for a specific number of iterations. More...
GAZEBO_VISIBLE bool | setupServer (const std::vector< std::string > &_args)
| Start a gazebo server. More...
GAZEBO_VISIBLE bool | setupServer (int _argc=0, char **_argv=0)
| Start a gazebo server. More...
GAZEBO_VISIBLE bool | shutdown ()
| Stop and cleanup simulation. More...

## Detailed Description

Forward declarations for the common classes.

Example SDF: <plugin name="actuator_plugin" filename="libActuatorPlugin.so"> <actuator> <name>actuator_0</name> <joint>JOINT_0</joint> <index>0</index> <type>electric_motor</type> <power>20</power> <max_velocity>6</max_velocity> <max_torque>10.0</max_torque> </actuator> </plugin> </model>

Forward declarations for the util classes.

Required fields:

- name
- joint
- index (can be 0 in most cases)
- type: current options are electric_motor, velocity_limiter or null Required for motor model electric_motor:
- power
- max_velocity
- max_torque Required for motor model velocity_limiter:
- max_velocity
- max_torque

## Typedef Documentation

## EventSourcePtr

typedef std::shared_ptr<EventSource> EventSourcePtr

## GUIPluginPtr

typedef boost::shared_ptr<GUIPlugin> GUIPluginPtr

## ModelPluginPtr

typedef boost::shared_ptr<ModelPlugin> ModelPluginPtr

## ModelResourceRetrieverPtr

using ModelResourceRetrieverPtr = std::shared_ptr<ModelResourceRetriever>

## RegionPtr

typedef std::shared_ptr<Region> RegionPtr

## SensorPluginPtr

typedef boost::shared_ptr<SensorPlugin> SensorPluginPtr

## SystemPluginPtr

typedef boost::shared_ptr<SystemPlugin> SystemPluginPtr

## VisualPluginPtr

typedef boost::shared_ptr<VisualPlugin> VisualPluginPtr

## WorldPluginPtr

typedef boost::shared_ptr<WorldPlugin> WorldPluginPtr

## Enumeration Type Documentation

## Tracks

enum Tracks : bool

strong

Enum for distinguishing between left and right tracks.

Enumerator
LEFT |
RIGHT |

## Function Documentation

## addPlugin()

GAZEBO_VISIBLE void gazebo::addPlugin | ( | const std::string & | _filename | ) |

Add a system plugin.

Parameters

  [in] | _filename | Path to the plugin.

## custom_exec()

std::string gazebo::custom_exec | ( | std::string | _cmd | ) |

## loadWorld()

GAZEBO_VISIBLE gazebo::physics::WorldPtr gazebo::loadWorld | ( | const std::string & | _worldFile | ) |

Create and load a new world from an SDF world file.

Parameters

  [in] | _worldFile | The world file to load from.

Returns
  Pointer to the created world. NULL on error.

## printVersion()

GAZEBO_VISIBLE void gazebo::printVersion | ( |  | ) |

Output version information to the terminal.

## runWorld()

GAZEBO_VISIBLE void gazebo::runWorld | ( | gazebo::physics::WorldPtr | _world,
|  | unsigned int | _iterations
| ) |  |

Run a world for a specific number of iterations.

Parameters

  [in] | _world | Pointer to a world.
  [in] | _iterations | Number of iterations to execute.

## setupServer() [1/2]

GAZEBO_VISIBLE bool gazebo::setupServer | ( | const std::vector< std::string > & | _args | ) |

Start a gazebo server.

This starts transportation, and makes it possible to create worlds.

Parameters

  [in] | _args | Vector of arguments only parsed by the system plugins. Note that when you run gazebo/gzserver, all the options (–version, –server-plugin, etc.) are parsed but when using Gazebo as a library, the arguments are only parsed by the system plugins.

See also
  gazebo::SystemPlugin::Load()

Returns
  True on success.

## setupServer() [2/2]

GAZEBO_VISIBLE bool gazebo::setupServer | ( | int | _argc = `0`,
|  | char ** | _argv = `0`
| ) |  |

Start a gazebo server.

This starts transportation, and makes it possible to create worlds.

Parameters

  [in] | _argc | Number of commandline arguments.
  [in] | _argv | The commandline arguments.

Returns
  True on success.

## shutdown()

GAZEBO_VISIBLE bool gazebo::shutdown | ( |  | ) |

Stop and cleanup simulation.

Returns
  True if the simulation is shutdown; false otherwise.