Gazebo Plugin emulating the yarp device exposing a 6 axis force-torque sensor. More...

#include <LaserSensor.hh>

Inheritance diagram for gazebo::GazeboYarpLaserSensor:

Collaboration diagram for gazebo::GazeboYarpLaserSensor:

Public Member Functions
	GazeboYarpLaserSensor ()

virtual	~GazeboYarpLaserSensor ()

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

Detailed Description

Gazebo Plugin emulating the yarp device exposing a 6 axis force-torque sensor.

This plugin instantiate a yarp 6-axis force torque sensor driver for the Gazebo simulator and instantiate a network wrapper (provided by yarp::dev::AnalogWrapper) 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 containing the configuration parameters of the controlBoard

The parameter that the yarpConfigurationFile must contain are:

robotName	Robot name, used to form the prefix for the opened ports.
deviceId	Id of the device, used to form the prefix for the opened ports.
period	Update period (in ms) of yarp port that publish the measure. It must be an integer

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

The port opened by the yarp::dev::AnalogWrapper will be:

/{robotName}/{deviceId}/analog:o	(port streaming the measure)
/{robotName}/{deviceId}/analog/rpc:i	(rpc port)

Constructor & Destructor Documentation

◆ GazeboYarpLaserSensor()

gazebo::GazeboYarpLaserSensor::GazeboYarpLaserSensor ( )

◆ ~GazeboYarpLaserSensor()

gazebo::GazeboYarpLaserSensor::~GazeboYarpLaserSensor ( )

virtual

Member Function Documentation

◆ Load()

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