gazebo::GazeboYarpClock Class Reference

Plugin exposing the Gazebo Clock on the YARP network, allowing to synchronize the simulation with an external controller. More...

#include <Clock.hh>

Inheritance diagram for gazebo::GazeboYarpClock:

Collaboration diagram for gazebo::GazeboYarpClock:

Public Member Functions
	GazeboYarpClock ()
virtual	~GazeboYarpClock ()
virtual void	Load (int _argc=0, char **_argv=NULL)
void	gazeboYarpClockLoad (std::string world_name)
void	clockUpdate ()
void	clockPause ()
	pause the simulation
void	clockContinue ()
	resume the simulation
void	clockStep (unsigned steps=1)
	Step the simulation for the input number of steps.
common::Time	getSimulationTime ()
	Returns the simulation time.
void	resetSimulationTime ()
	Reset the simulation time back to zero.
void	resetSimulationState ()
	Reset the simulation state back to initial state.
void	resetSimulation ()
	Reset the simulation time and state back to zero.
virtual double	getStepSize ()
	Get the current step size in seconds.

Detailed Description

Plugin exposing the Gazebo Clock on the YARP network, allowing to synchronize the simulation with an external controller.

The plugin itself exposes two features:

• It publishes the simulation time on a Yarp port /clock
• It opens a Yarp RPC Port (/clock/rpc) to allows control of the simulation time.

How to launch it

The plugin should be launched as a system plugin:

gazebo -slibgazebo_yarp_clock.so

Plugin details

The RPC communication API is written in thrift and a stub is automatically generated and can be used for remote procedure calls. The APIs allow to stop, resume and step the simulation.

Synchronize with the simulation

The features exposed by this plugin should be enough to cover most of the synchronization issues.

If you need to implement synchronization in your module, you should use the RPC calls to properly step the simulation.

Already-implemented synchronization methods

At the current state, you can use the synchronization out-of-the-box in these two cases:

1) Yarp module

Yarp already supports the use of an external clock. In this case, the only thing that is needed is to set the environmental variable YARP_CLOCK to be equal to the clock port, e.g., YARP_CLOCK=/clock. We strongly advice you to NOT put the variable in your .bashrc but to do it explicitly for each module.

2) Simulink with WB-Toolbox

If you are using the WB-Toolbox a block called Simulator Synchronizer already implements the correct RPC calls. You only have to put the block in your Simulink model.

Constructor & Destructor Documentation

GazeboYarpClock()

gazebo::GazeboYarpClock::GazeboYarpClock

(

)

~GazeboYarpClock()

gazebo::GazeboYarpClock::~GazeboYarpClock ( )

virtual

Member Function Documentation

Load()

void gazebo::GazeboYarpClock::Load ( int _argc = 0, char ** _argv = NULL )

virtual

gazeboYarpClockLoad()

void gazebo::GazeboYarpClock::gazeboYarpClockLoad

(

std::string

world_name

)

clockUpdate()

void gazebo::GazeboYarpClock::clockUpdate

(

)

clockPause()

void gazebo::GazeboYarpClock::clockPause

(

)

pause the simulation

clockContinue()

void gazebo::GazeboYarpClock::clockContinue

(

)

resume the simulation

clockStep()

void gazebo::GazeboYarpClock::clockStep

(

unsigned

steps = 1

)

Step the simulation for the input number of steps.

Defaults to 1

Parameters

[in]

steps

number of steps

getSimulationTime()

common::Time gazebo::GazeboYarpClock::getSimulationTime

(

)

Returns the simulation time.

Returns

the simulation time

resetSimulationTime()

void gazebo::GazeboYarpClock::resetSimulationTime

(

)

Reset the simulation time back to zero.

resetSimulationState()

void gazebo::GazeboYarpClock::resetSimulationState

(

)

Reset the simulation state back to initial state.

resetSimulation()

void gazebo::GazeboYarpClock::resetSimulation

(

)

Reset the simulation time and state back to zero.

getStepSize()

double gazebo::GazeboYarpClock::getStepSize ( )

virtual

Get the current step size in seconds.

Returns

the step size in seconds

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

• Clock.hh
• Clock.cc