sas::ObjectServerGazebo Class Reference

Interface between ObjectServer and Gazebo. More...

#include <sas_object_server_gazebo.hpp>

Inheritance diagram for sas::ObjectServerGazebo:

Public Member Functions
	ObjectServerGazebo (const ObjectServerGazebo &)=delete
	ObjectServerGazebo (ObjectServerGazebo &&)=default
	ObjectServerGazebo (const std::shared_ptr< ObjectServer > &object_server, const std::string &gazebo_entity_name, const std::string &gazebo_set_pose_service_name, const std::string &gazebo_world_dynamic_pose_topic)
	Construct an ObjectServerGazebo instance.
void	update ()
	Synchronize ObjectServer and Gazebo poses.

Detailed Description

Interface between ObjectServer and Gazebo.

Receives target poses from an ObjectServer instance, forwards them to Gazebo, and publishes the current Gazebo pose back through the ObjectServer.

Constructor & Destructor Documentation

ObjectServerGazebo()

sas::ObjectServerGazebo::ObjectServerGazebo	(	const std::shared_ptr< ObjectServer > &	object_server,
		const std::string &	gazebo_entity_name,
		const std::string &	gazebo_set_pose_service_name,
		const std::string &	gazebo_world_dynamic_pose_topic )

Construct an ObjectServerGazebo instance.

Parameters

object_server	ObjectServer instance used for ROS communication.
gazebo_entity_name	Gazebo entity name handled by this object.
gazebo_set_pose_service_name	Gazebo service used to set poses.
gazebo_world_dynamic_pose_topic	Gazebo topic used to read poses.

Member Function Documentation

update()

void sas::ObjectServerGazebo::update

(

)

Synchronize ObjectServer and Gazebo poses.

Sends a new target pose to Gazebo when it changes and updates the ObjectServer with the current pose reported by Gazebo.

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

• src/sas_robot_driver_gazebo/src/sas_object_server_gazebo.hpp
• src/sas_robot_driver_gazebo/src/sas_object_server_gazebo.cpp