gz_ros2_control::GazeboSimROS2ControlPluginPrivate Class Reference

Public Member Functions
std::string	getURDF () const
	Get the URDF XML from the parameter server.
std::map< std::string, sim::Entity >	GetEnabledJoints (const sim::Entity &_entity, sim::EntityComponentManager &_ecm) const
	Get a list of enabled, unique, 1-axis joints of the model. If no joint names are specified in the plugin configuration, all valid 1-axis joints are returned.

Public Attributes
sim::Entity	entity_
	Entity ID for sensor within Gazebo.
std::shared_ptr< rclcpp::Node >	node_ {nullptr}
	Node Handles.
std::thread	thread_executor_spin_
	Thread where the executor will spin.
rclcpp::executors::MultiThreadedExecutor::SharedPtr	executor_
	Executor to spin the controller.
rclcpp::Duration	control_period_ = rclcpp::Duration(1, 0)
	Timing.
std::shared_ptr< pluginlib::ClassLoader< gz_ros2_control::GazeboSimSystemInterface > >	robot_hw_sim_loader_ {nullptr}
	Interface loader.
std::shared_ptr< controller_manager::ControllerManager >	controller_manager_ {nullptr}
	Controller manager.
std::string	robot_description_ = "robot_description"
	String with the robot description param_name.
std::string	robot_description_node_ = "robot_state_publisher"
	String with the name of the node that contains the robot_description.
rclcpp::Time	last_update_sim_time_ros_
	Last time the update method was called.
sim::EntityComponentManager *	ecm {nullptr}
	ECM pointer.
int	update_rate
	controller update rate

Member Function Documentation

GetEnabledJoints()

std::map< std::string, sim::Entity > gz_ros2_control::GazeboSimROS2ControlPluginPrivate::GetEnabledJoints	(	const sim::Entity &	_entity,
		sim::EntityComponentManager &	_ecm
	)		const

Get a list of enabled, unique, 1-axis joints of the model. If no joint names are specified in the plugin configuration, all valid 1-axis joints are returned.

Parameters

[in]	_entity	Entity of the model that the plugin is being configured for
[in]	_ecm	Gazebo Entity Component Manager

Returns

List of entities containing all enabled joints

Member Data Documentation

last_update_sim_time_ros_

rclcpp::Time gz_ros2_control::GazeboSimROS2ControlPluginPrivate::last_update_sim_time_ros_

Initial value:

=
    rclcpp::Time((int64_t)0, RCL_ROS_TIME)

Last time the update method was called.

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

• gz_ros2_control/gz_ros2_control/src/gz_ros2_control_plugin.cpp