yarp::dev::GazeboYarpBaseStateDriver Class Reference

YARP device driver to give the gazebo state information of a desired base link of the robot The state information include. More...

#include <BaseStateDriver.h>

Inheritance diagram for yarp::dev::GazeboYarpBaseStateDriver:

Collaboration diagram for yarp::dev::GazeboYarpBaseStateDriver:

Public Member Functions
	GazeboYarpBaseStateDriver ()
virtual	~GazeboYarpBaseStateDriver ()
virtual bool	open (yarp::os::Searchable &config)
virtual bool	close ()
virtual int	read (yarp::sig::Vector &out)
virtual int	getState (int ch)
virtual int	getChannels ()
virtual int	calibrateChannel (int ch)
virtual int	calibrateChannel (int ch, double v)
virtual int	calibrateSensor ()
virtual int	calibrateSensor (const yarp::sig::Vector &value)
virtual yarp::os::Stamp	getLastInputStamp ()
void	onUpdate (const gazebo::common::UpdateInfo &_info)
	Gets World pose, velocity and acceleration of the base link and updates the base state vector.

Detailed Description

YARP device driver to give the gazebo state information of a desired base link of the robot The state information include.

• absolute pose of the base link (x, y, z. roll, pitch, yaw)
• linear and angular velocity of the base link in the world frame
• linear and angular acceleration of the base link in the world frame

  Warning

  Note that the position angles, angular velocity and angular accelerations are expressed in radians-based units which is different from the usual YARP convention of expressing angles in degrees

  This device can be used by adding the following line in the SDF file of your robot,

  <plugin name="basestate" filename="libgazebo_yarp_basestate.so">
      <yarpConfigurationFile>model://path-to-the-configuration-file</yarpConfigurationFile>
  </plugin>

For configuration, the device supports two style. The first one, that is activated if disableImplicitNetworkWrapper parameter is given, is the following:

Parameter name	Type	Units	Default Value	Required	Description	Notes
yarpDeviceName	string			Yes	name of the device used to identify the device instance in the gazebo_yarp_robotinterface plugin
baseLink	string	-	-	Yes	name of the floating base link

An example configuration file might look like:

disableImplicitNetworkWrapper
yarpDeviceName basestate_device
baseLink torso_link

the same options can be passed via yarpConfigurationString tag to pass the configuration as a string, as in:

<plugin name="basestate" filename="libgazebo_yarp_basestate.so">
    <yarpConfigurationString>(disableImplicitNetworkWrapper) (yarpDeviceName basestate_device) (baseLink torso_link)</yarpConfigurationString>
</plugin>

Alternatively, if disableImplicitNetworkWrapper parameter is not given, the following DEPRECATED style is used:

The configuration file must contain two groups [WRAPPER] and [DRIVER]

Parameters accepted in the config argument of the open method for [WRAPPER]:

Parameter name	Type	Units	Default Value	Required	Description	Notes
name	string	-	-	Yes	full name of the port opened by the device	MUST start with a '/' character
period	double	ms	20	No	refresh period of broadcast value in ms	optional, default 20ms
device	string	-	-	Yes	name of the network wrapper to connect to	MUST be set to analogServer

Parameters accepted in the config argument of the open method for [DRIVER]:

Parameter name	Type	Units	Default Value	Required	Description	Notes
device	string	-	-	Yes	name of the device driver to instantiate	MUST be set to gazebo_basestate
baseLink	string	-	-	Yes	name of the floating base link	-

An example configuration file might look like,

[WRAPPER]
name /icubSim/floating_base/state:o
period 16
device analogServer
 
[DRIVER]
device gazebo_basestate
baseLink torso_link

This style is going to be removed in a future release of gazebo-yarp-plugins.

Constructor & Destructor Documentation

GazeboYarpBaseStateDriver()

GazeboYarpBaseStateDriver::GazeboYarpBaseStateDriver

(

)

~GazeboYarpBaseStateDriver()

GazeboYarpBaseStateDriver::~GazeboYarpBaseStateDriver ( )

virtual

Member Function Documentation

open()

bool GazeboYarpBaseStateDriver::open ( yarp::os::Searchable & config )

virtual

close()

bool GazeboYarpBaseStateDriver::close ( )

virtual

read()

int GazeboYarpBaseStateDriver::read ( yarp::sig::Vector & out )

virtual

getState()

int GazeboYarpBaseStateDriver::getState ( int ch )

virtual

getChannels()

int GazeboYarpBaseStateDriver::getChannels ( )

virtual

calibrateChannel() [1/2]

int GazeboYarpBaseStateDriver::calibrateChannel ( int ch )

virtual

calibrateChannel() [2/2]

int GazeboYarpBaseStateDriver::calibrateChannel ( int ch, double v )

virtual

calibrateSensor() [1/2]

int GazeboYarpBaseStateDriver::calibrateSensor ( )

virtual

calibrateSensor() [2/2]

int GazeboYarpBaseStateDriver::calibrateSensor ( const yarp::sig::Vector & value )

virtual

getLastInputStamp()

yarp::os::Stamp GazeboYarpBaseStateDriver::getLastInputStamp ( )

virtual

onUpdate()

void GazeboYarpBaseStateDriver::onUpdate

(

const gazebo::common::UpdateInfo &

_info

)

Gets World pose, velocity and acceleration of the base link and updates the base state vector.

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

• BaseStateDriver.h
• BaseStateDriver.cpp