boris_apartment::RobotPlugin Class Reference

Gazebo Sim plugin for differential drive robot via cmd_vel. More...

Inheritance diagram for boris_apartment::RobotPlugin:

Public Member Functions
void	Configure (const gz::sim::Entity &p_entity, const std::shared_ptr< const sdf::Element > &_sdf, gz::sim::EntityComponentManager &p_ecm, gz::sim::EventManager &_eventMgr) override
	Called once when the plugin is loaded.
void	PreUpdate (const gz::sim::UpdateInfo &p_info, gz::sim::EntityComponentManager &p_ecm) override
	Called every simulation step before physics integration. Called repeadedly, even when simulation is paused.

Detailed Description

Gazebo Sim plugin for differential drive robot via cmd_vel.

Subscribes to /model/<name>/cmd_vel (gz.msgs.Twist) and uses differential drive kinematics to map to left and right wheel angular velocities:

• linear.x → forward/backward speed (m/s)
• angular.z → rotation speed (rad/s)

Register in your SDF with:

<plugin filename="librobot_plugin.so" name="boris_apartment::RobotPlugin"/>

Member Function Documentation

Configure()

void boris_apartment::RobotPlugin::Configure ( const gz::sim::Entity & p_entity, const std::shared_ptr< const sdf::Element > & _sdf, gz::sim::EntityComponentManager & p_ecm, gz::sim::EventManager & _eventMgr )

inlineoverride

Called once when the plugin is loaded.

Resolves the model entity and subscribes to its cmd_vel topic.

Parameters

p_entity	SDF entity that owns this plugin.
_sdf	Parsed SDF element (unused).
p_ecm	Entity-component manager for the simulation world.
_eventMgr	Event manager (unused).

PreUpdate()

void boris_apartment::RobotPlugin::PreUpdate ( const gz::sim::UpdateInfo & p_info, gz::sim::EntityComponentManager & p_ecm )

inlineoverride

Called every simulation step before physics integration. Called repeadedly, even when simulation is paused.

Reads the latest velocity command (under mutex) and applies differential drive kinematics to compute left and right wheel velocities, then commands both wheels via JointVelocityCmd components.

Parameters

p_info	Simulation step metadata (time, paused flag, …).
p_ecm	Entity-component manager for the simulation world.

---

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

• script/robot/robot_plugin.cpp