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

#include <DepthCamera.hh>

Inheritance diagram for gazebo::GazeboYarpDepthCamera:

Collaboration diagram for gazebo::GazeboYarpDepthCamera:

Public Member Functions
	GazeboYarpDepthCamera ()

virtual	~GazeboYarpDepthCamera ()

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

Detailed Description

Gazebo Plugin reading from the Gazebo DepthCamera 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.
QUANT_PARAM::depth_quant	The number of decimals for the values of the depth image pixels

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

Constructor & Destructor Documentation

◆ GazeboYarpDepthCamera()

gazebo::GazeboYarpDepthCamera::GazeboYarpDepthCamera ( )

◆ ~GazeboYarpDepthCamera()

gazebo::GazeboYarpDepthCamera::~GazeboYarpDepthCamera ( )

virtual

Member Function Documentation

◆ Load()

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