gazebo_services.mock.cpp File Reference

#include <ros/ros.h>
#include <ros/console.h>
#include <gazebo_msgs/ModelState.h>
#include <gazebo_msgs/ModelStates.h>
#include <gazebo_msgs/SetModelState.h>
#include <gazebo_msgs/GetModelState.h>
#include "travesim_adapters/data/converter/ros_side.hpp"
#include <iostream>
#include <unordered_map>

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Functions
bool	set_model_state (gazebo_msgs::SetModelState::Request &req, gazebo_msgs::SetModelState::Response &res)
bool	get_model_state (gazebo_msgs::GetModelState::Request &req, gazebo_msgs::GetModelState::Response &res)
int	main (int argc, char **argv)

Variables
std::unordered_map< std::string, gazebo_msgs::ModelState >	world_data

Detailed Description

Author

Felipe Gomes de Melo felip.nosp@m.e.go.nosp@m.mes@t.nosp@m.hund.nosp@m.eratz.nosp@m..org

Date

04/2021

Copyright

MIT License - Copyright (c) 2021 ThundeRatz

Definition in file gazebo_services.mock.cpp.

Function Documentation

get_model_state()

bool get_model_state	(	gazebo_msgs::GetModelState::Request &	req,
		gazebo_msgs::GetModelState::Response &	res
	)

Definition at line 31 of file gazebo_services.mock.cpp.

                                                                                                  {
    res.pose = world_data.at(req.model_name).pose;
    res.twist = world_data.at(req.model_name).twist;
    res.success = true;
    return true;
}

References world_data.

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main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 38 of file gazebo_services.mock.cpp.

                                {
    ros::init(argc, argv, "gazebo_mock");
    ros::NodeHandle nh;

    ros::ServiceServer setter_service = nh.advertiseService("/gazebo/set_model_state", set_model_state);
    ros::ServiceServer getter_service = nh.advertiseService("/gazebo/get_model_state", get_model_state);

    ros::Publisher pub = nh.advertise<gazebo_msgs::ModelStates>("/gazebo/model_states", 1, true);

    gazebo_msgs::ModelStates empty_msg;

    pub.publish(empty_msg);

    ros::spin();

    return 0;
}

References get_model_state(), and set_model_state().

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set_model_state()

bool set_model_state	(	gazebo_msgs::SetModelState::Request &	req,
		gazebo_msgs::SetModelState::Response &	res
	)

Definition at line 25 of file gazebo_services.mock.cpp.

                                                                                                  {
    world_data[req.model_state.model_name] = req.model_state;
    res.success = true;
    return true;
}

References world_data.

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Variable Documentation

world_data

std::unordered_map<std::string, gazebo_msgs::ModelState> world_data

Definition at line 23 of file gazebo_services.mock.cpp.