Gazebo Plugin emulating the yarp inertial MTB sensors device in Gazebo. More...

#include <inertialMTBPart.hh>

Inheritance diagram for gazebo::GazeboYarpInertialMTBPart:

Collaboration diagram for gazebo::GazeboYarpInertialMTBPart:

Public Member Functions
	GazeboYarpInertialMTBPart ()

virtual	~GazeboYarpInertialMTBPart ()

virtual void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Saves the gazebo pointer, retrieves the configuration parameters from the sdf file and creates the device driver.

Detailed Description

Gazebo Plugin emulating the yarp inertial MTB sensors device in Gazebo.

This plugin instantiate a yarp MTB board driver for the Gazebo simulator and instantiate a network wrapper (provided by yarp::dev::AnalogWrapper) to expose the sensors of a whole model part (ex: the leg) on the yarp network. Since a part can include several links (ex: upper_leg, lower_leg and foot), the plugin is tied to the model.

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

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::AnalogWrapper wrapper .

Constructor & Destructor Documentation

◆ GazeboYarpInertialMTBPart()

gazebo::GazeboYarpInertialMTBPart::GazeboYarpInertialMTBPart ( )

◆ ~GazeboYarpInertialMTBPart()

gazebo::GazeboYarpInertialMTBPart::~GazeboYarpInertialMTBPart ( )

virtual

Member Function Documentation

◆ Load()

void gazebo::GazeboYarpInertialMTBPart::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf )