travesim::ros_side::ReplacerSender Class Reference

#include "replacer_sender.hpp"

Collaboration diagram for travesim::ros_side::ReplacerSender:

Public Member Functions
	ReplacerSender ()
	Construct a new Replacer Sender object. More...
bool	set_models_state (state_vector_t *model_states)
	Set state of multiple entities. More...
bool	set_model_state (gazebo_msgs::ModelState model_state)
	Set the state of one entity. More...
bool	send_command (simulation_command_t command)
	Send command to gazebo. More...
void	reconnect_service_client ()
	Attempts to reconnect gz_service ServiceClient if connection dropped. More...

Private Attributes
ros::NodeHandlePtr	_nh
ros::ServiceClient	gz_service

Detailed Description

Definition at line 37 of file replacer_sender.hpp.

Constructor & Destructor Documentation

ReplacerSender()

travesim::ros_side::ReplacerSender::ReplacerSender

(

)

Construct a new Replacer Sender object.

Definition at line 23 of file replacer_sender.cpp.

                               {
    _nh = ros::NodeHandlePtr(new ros::NodeHandle());
    this->reconnect_service_client();
}

References _nh, and reconnect_service_client().

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Member Function Documentation

reconnect_service_client()

void travesim::ros_side::ReplacerSender::reconnect_service_client

(

)

Attempts to reconnect gz_service ServiceClient if connection dropped.

If the connection dropped, we try to reconnect

Definition at line 28 of file replacer_sender.cpp.

                                              {
    /**
     * @brief If the connection dropped, we try to reconnect
     */
    if (!this->gz_service.isValid()) {
        this->gz_service = this->_nh->serviceClient<gazebo_msgs::SetModelState>("/gazebo/set_model_state");
    }
}

References _nh, and gz_service.

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send_command()

bool travesim::ros_side::ReplacerSender::send_command

(

simulation_command_t

command

)

Send command to gazebo.

Parameters

command

Returns

true If sucessfull

false If any error occured

Definition at line 65 of file replacer_sender.cpp.

                                                              {
    static std::unordered_map<simulation_command_t, std::string> topics_table({
                {travesim::ros_side::PAUSE, "/gazebo/pause_physics" },
                {travesim::ros_side::RESUME, "/gazebo/unpause_physics"},
                {travesim::ros_side::RESET_WORLD, "/gazebo/reset_world"},
                {travesim::ros_side::RESET_SIMULATION, "/gazebo/reset_simulation"},
            });

    std_srvs::Empty msg;

    if (topics_table[command] == "") {
        return false;
    } else {
        ros::service::call(topics_table[command], msg);
        return true;
    }
}

References travesim::ros_side::PAUSE, travesim::ros_side::RESET_SIMULATION, travesim::ros_side::RESET_WORLD, and travesim::ros_side::RESUME.

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set_model_state()

bool travesim::ros_side::ReplacerSender::set_model_state

(

gazebo_msgs::ModelState

model_state

)

Set the state of one entity.

Parameters

model_state

ModelState to be set

Note

The affected entity is infered from the model_name of the ModelState

Returns

true If sucessfull

false If any error occured

Definition at line 37 of file replacer_sender.cpp.

                                                                      {
    static gazebo_msgs::SetModelStateRequest request;
    static gazebo_msgs::SetModelStateResponse response;

    this->reconnect_service_client();
    request.model_state = model_state;

    bool status = this->gz_service.call(request, response);

    if (!(status && response.success)) {
        ROS_ERROR_STREAM("Error while calling set_model_state " << model_state);
        return false;
    }

    return true;
}

References gz_service, and reconnect_service_client().

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set_models_state()

bool travesim::ros_side::ReplacerSender::set_models_state

(

state_vector_t *

model_states

)

Set state of multiple entities.

Parameters

model_states

Vector of states to be set

Note

The affected entity is infered from the model_name of each ModelState

Returns

true If sucessfull

false If any error occured

Definition at line 54 of file replacer_sender.cpp.

                                                                  {
    for (uint32_t i = 0; i < model_states->size(); i++) {
        if (!this->set_model_state(model_states->at(i))) {
            ROS_ERROR_STREAM("Error while calling set_team_state at i = " << i);
            return false;
        }
    }

    return true;
}

References set_model_state().

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Member Data Documentation

_nh

ros::NodeHandlePtr travesim::ros_side::ReplacerSender::_nh

private

Definition at line 39 of file replacer_sender.hpp.

gz_service

ros::ServiceClient travesim::ros_side::ReplacerSender::gz_service

private

Definition at line 41 of file replacer_sender.hpp.

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

• include/travesim_adapters/ros/replacer_sender.hpp
• src/lib/ros/replacer_sender.cpp