gazebo-yarp-plugins
Gazebo Plugins exposing YARP interfaces.
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gazebo::GazeboYarpCamera Class Reference

Gazebo Plugin reading from the Gazebo Camera plugin, simulating the robot´s eyes view. More...

#include <Camera.hh>

Inheritance diagram for gazebo::GazeboYarpCamera:
Collaboration diagram for gazebo::GazeboYarpCamera:

Public Member Functions

 GazeboYarpCamera ()
 
virtual ~GazeboYarpCamera ()
 
virtual void Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
 

Detailed Description

Gazebo Plugin reading from the Gazebo Camera plugin, simulating the robot´s eyes view.

This plugin instantiate a yarp camera driver for the Gazebo simulator and instantiate a network wrapper (provided by yarp::dev::ServerFrameGrabbers) to expose the sensor on the yarp network.

It can be configurated using the yarpConfigurationFile sdf tag, that contains a Gazebo URI pointing at a yarp .ini configuration file

The parameter that the yarpConfigurationFile must contain are:

name Port name to assign to the wrapper to this device.
period Update period (in s) of yarp port that publish the measure.

If the required parameters are not specified, their value will be the default one assigned by the yarp::dev::ServerFrameGrabbers wrapper.

Constructor & Destructor Documentation

◆ GazeboYarpCamera()

gazebo::GazeboYarpCamera::GazeboYarpCamera ( )

◆ ~GazeboYarpCamera()

gazebo::GazeboYarpCamera::~GazeboYarpCamera ( )
virtual

Member Function Documentation

◆ Load()

void gazebo::GazeboYarpCamera::Load ( sensors::SensorPtr _sensor,
sdf::ElementPtr _sdf )
virtual

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