Gazebo simulator server node. More...

#include <gz/msgs.hh>
#include <gz/transport.hh>
#include <rclcpp/rclcpp.hpp>
#include <sas_core/sas_clock.hpp>
#include <sas_core/sas_shutdown_signaler.hpp>
#include <sas_common/sas_common.hpp>
#include <sas_common/sas_simulator_server.hpp>
#include <signal.h>

Functions
void	sig_int_handler (int)
void	world_control_callback (const gz::msgs::Boolean &, const bool)
	Receive Gazebo world control responses.
void	start_simulation_callback (gz::transport::Node &node, const std::string &service_name)
	Request simulation start.
void	stop_simulation_callback (gz::transport::Node &node, const std::string &service_name)
	Request simulation stop.
int	main (int argc, char **argv)
	Run the Gazebo simulator server node.

Detailed Description

Gazebo simulator server node.

Exposes Gazebo simulation control through ROS.

Function Documentation

◆ main()

int main	(	int	argc,
		char **	argv )

Run the Gazebo simulator server node.

Reads ROS parameters, binds Gazebo control requests to a SimulatorServer, and processes ROS callbacks until shutdown.

◆ start_simulation_callback()

void start_simulation_callback	(	gz::transport::Node &	node,
		const std::string &	service_name )

Request simulation start.

Sends a Gazebo world control request with pause disabled.

Parameters

node	Gazebo transport node used for the request.
service_name	Gazebo world control service name.

◆ stop_simulation_callback()

void stop_simulation_callback	(	gz::transport::Node &	node,
		const std::string &	service_name )

Request simulation stop.

Sends a Gazebo world control request with pause enabled.