moveit_setup::simulation::Simulation Class Reference

#include <simulation.hpp>

Inheritance diagram for moveit_setup::simulation::Simulation:

Collaboration diagram for moveit_setup::simulation::Simulation:

Public Member Functions
std::string	getName () const override
	Returns the name of the setup step.
void	onInit () override
	Overridable initialization method.
bool	isReady () const override
	Return true if the data necessary to proceed with this step has been configured.
std::filesystem::path	getURDFPath () const
std::string	getURDFPackageName () const
std::string	getURDFContents () const
std::string	getJointHardwareInterface (const std::string &joint_name)
	Helper function to get the controller that is controlling the joint.
std::string	getGazeboCompatibleURDF ()
	Parses the existing urdf and constructs a string from it with the elements required by gazebo simulator added.
bool	outputGazeboURDFFile (const std::filesystem::path &file_path)
bool	isValidXML (const std::string &new_urdf_contents, int &error_row, std::string &error_description) const
	Check if the given xml is valid.
Public Member Functions inherited from moveit_setup::SetupStep
	SetupStep ()=default
	SetupStep (const SetupStep &)=default
	SetupStep (SetupStep &&)=default
SetupStep &	operator= (const SetupStep &)=default
SetupStep &	operator= (SetupStep &&)=default
virtual	~SetupStep ()=default
void	initialize (const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data)
	Called after construction to initialize the step.
const rclcpp::Logger &	getLogger () const
	Makes a namespaced logger for this step available to the widget.

Protected Attributes
std::shared_ptr< URDFConfig >	urdf_config_
std::string	gazebo_urdf_string_
	Gazebo URDF robot model string.
bool	save_gazebo_urdf_
	Whether a new Gazebo URDF is created.
Protected Attributes inherited from moveit_setup::SetupStep
DataWarehousePtr	config_data_
rclcpp::Node::SharedPtr	parent_node_
std::shared_ptr< rclcpp::Logger >	logger_

Detailed Description

Definition at line 45 of file simulation.hpp.

Member Function Documentation

getGazeboCompatibleURDF()

std::string moveit_setup::simulation::Simulation::getGazeboCompatibleURDF

(

)

Parses the existing urdf and constructs a string from it with the elements required by gazebo simulator added.

Returns

gazebo compatible urdf or empty if error encountered

Definition at line 85 of file simulation.cpp.

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getJointHardwareInterface()

std::string moveit_setup::simulation::Simulation::getJointHardwareInterface

(

const std::string &

joint_name

)

Helper function to get the controller that is controlling the joint.

Returns

controller type

TODO: Need to port this - may require depending on moveit_setup_controllers ControllerConfig

for (ControllerConfig& ros_control_config : controller_configs_) { std::vector<std::string>::iterator joint_it = std::find(ros_control_config.joints_.begin(), ros_control_config.joints_.end(), joint_name); if (joint_it != ros_control_config.joints_.end()) { if (ros_control_config.type_.substr(0, 8) == "position") return "hardware_interface/PositionJointInterface"; else if (ros_control_config.type_.substr(0, 8) == "velocity") return "hardware_interface/VelocityJointInterface"; As of writing this, available joint command interfaces are position, velocity and effort. else return "hardware_interface/EffortJointInterface"; } }

Definition at line 51 of file simulation.cpp.

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getName()

std::string moveit_setup::simulation::Simulation::getName ( ) const

inlineoverridevirtual

Returns the name of the setup step.

Implements moveit_setup::SetupStep.

Definition at line 48 of file simulation.hpp.

getURDFContents()

std::string moveit_setup::simulation::Simulation::getURDFContents ( ) const

inline

Definition at line 70 of file simulation.hpp.

getURDFPackageName()

std::string moveit_setup::simulation::Simulation::getURDFPackageName ( ) const

inline

Definition at line 65 of file simulation.hpp.

getURDFPath()

std::filesystem::path moveit_setup::simulation::Simulation::getURDFPath ( ) const

inline

Definition at line 60 of file simulation.hpp.

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isReady()

bool moveit_setup::simulation::Simulation::isReady ( ) const

inlineoverridevirtual

Return true if the data necessary to proceed with this step has been configured.

Reimplemented from moveit_setup::SetupStep.

Definition at line 55 of file simulation.hpp.

isValidXML()

bool moveit_setup::simulation::Simulation::isValidXML	(	const std::string &	new_urdf_contents,
		int &	error_row,
		std::string &	error_description
	)		const

Check if the given xml is valid.

Parameters

[in]	new_urdf_contents	The string of xml to check
[out]	error_row	The row of the error
[out]	error_description	The description

Returns

True if valid, false otherwise

Definition at line 188 of file simulation.cpp.

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onInit()

void moveit_setup::simulation::Simulation::onInit ( )

overridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupStep.

Definition at line 43 of file simulation.cpp.

outputGazeboURDFFile()

bool moveit_setup::simulation::Simulation::outputGazeboURDFFile

(

const std::filesystem::path &

file_path

)

Definition at line 173 of file simulation.cpp.

Member Data Documentation

gazebo_urdf_string_

std::string moveit_setup::simulation::Simulation::gazebo_urdf_string_

protected

Gazebo URDF robot model string.

Definition at line 104 of file simulation.hpp.

save_gazebo_urdf_

bool moveit_setup::simulation::Simulation::save_gazebo_urdf_

protected

Whether a new Gazebo URDF is created.

Definition at line 107 of file simulation.hpp.

urdf_config_

std::shared_ptr<URDFConfig> moveit_setup::simulation::Simulation::urdf_config_

protected

Definition at line 100 of file simulation.hpp.

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

• moveit_setup_assistant/moveit_setup_simulation/include/moveit_setup_simulation/simulation.hpp
• moveit_setup_assistant/moveit_setup_simulation/src/simulation.cpp