API review

Proposer: John Hsu

Present at review:

  • List reviewers

Question / concerns / comments

  • proposal, spawning process similar to controllers, starting with yaml file:
    gazebo_models:                              # everything here is namespaced under "gazebo_models"
        pr2:                                    # model name used inside gazebo
            specification: robot_description    # potentially contains:
                                                #    1. a verbatim string with URDF or Gazebo Model XML or
                                                #    2. a parameter name that refers to a parameter containing (1.)
                                                # the spawner will differentiate automatically
            namespace: /                        # namespace for gazebo_ros_plugins related to this model
            initial_pose:                       # initial pose for the model
                x: 0
                y: 0
                z: 0
                rx: 0
                ry: 0
                rz: 0
                joint_name: r_forearm_link      # name of the joint to set initial position
                    position:  1.57             # initial joint position
                joint_name: head_pan_link       # name of the joint to set initial position
                    position:  0.78             # initial joint position
        # another example
            specification: table_description
            namespace: /table
                x: 1
                y: 0
                z: 0
                rx: 0
                ry: 0
                rz: 0
  • commandline options
    rosrun gazebo_plugins gazebo_model spawn pr2
    rosrun gazebo_plugins gazebo_model spawn table

Meeting agenda

To be filled out by proposer based on comments gathered during API review period


Package status change mark change manifest)

  • /!\ Action items that need to be taken.

  • {X} Major issues that need to be resolved

Wiki: gazebo_plugins/Reviews/2009-11-17 API Review (last edited 2009-11-13 23:56:41 by hsu)