Gazebo-插件-系统插件

机器 > Gazebo 学习笔记 Gazebo Robo

发布时间 : 2023-05-05 10:00

字数:288 阅读 :

1. 源码
2. 运行

https://classic.gazebosim.org/tutorials?tut=system_plugin&cat=write_plugin
这是一个gzclient的系统插件，将图像保存在/tmp/gazebo_frames

1. 源码

#include <functional>
#include <gazebo/gui/GuiIface.hh>
#include <gazebo/rendering/rendering.hh>
#include <gazebo/gazebo.hh>

namespace gazebo
{
    class SystemGUI : public SystemPlugin
    {
        // Pointer the user camera.
        private: rendering::UserCameraPtr userCam;

        // All the event connections
        private: std::vector<event::ConnectionPtr> connections;

        // Destructor
        public: virtual ~SystemGUI()
        {
            this->connections.clear();
            if (this->userCam) this->userCam->EnableSaveFrame(false);
            this->userCam.reset();
        }

        // Called after the plugin has been constructed.
        public: void Load(int /*_argc*/, char** /*_argv*/)
        {
            this->connections.push_back(event::Events::ConnectPreRender(
                std::bind(&SystemGUI::Update, this)));
        }

        // Called once after Load
        private: void Init() {}

        // Called every PreRender event. See the Load function.
        private: void Update()
        {
            if (!this->userCam)
            {
                // Get a pointer to the active user camera
                this->userCam = gui::get_active_camera();

                // Enable saving frames
                this->userCam->EnableSaveFrame(true);

                // Specify the path to save frames into
                this->userCam->SetSaveFramePathname("/tmp/gazebo_frames");
            }

            // Get scene pointer
            rendering::ScenePtr scene = rendering::get_scene();

            // Wait until the scene is initialized.
            if (!scene || !scene->Initialized()) return;

            // Look for a specific visual by name.
            if (scene->GetVisual("ground_plane"))
                std::cout << "Has ground plane visual\n";
        }
    };

    // Rigister this plugin with the simulator
    GZ_REGISTER_SYSTEM_PLUGIN(SystemGUI)
}

2. 运行

编译并运行。略

gzserver

# 另一个终端
gzclient -g libsystem_gui.so

# 完事了要结束server进程
fg
# 或 killall gzserver

转载请注明来源，欢迎对文章中的引用来源进行考证，欢迎指出任何有错误或不够清晰的表达。可以在下面评论区评论，也可以邮件至 cdd@ahucd.cn