Parameter¶

Within a Gazebo Plugin GenericDomainModel, a parameter is represented by a GenericDomainModelParameter with the following Attributes.

Attributes	Value	Description
Value	[value]	Default value - can be a String, Float, Integer, or Boolean

If the CyPhy Master Interpreter is run, these Attributes will be used to populate the parent ROS Node Model’s corresponding node element in the generated ROS URDF file.

The GenericDomainModelParameter’s name is used as a key to populate the Gazebo Plugin GenericDomainModel’s connected template file Resource with the parameter value.

Example GenericDomainModelParameter

../../../../_images/example_gdm_parameter.png

Example Template Resource

<robot>
  <gazebo>
    <plugin name="diffdrive_plugin_multiwheel" filename="libdiffdrive_plugin_multi_wheel.so">
          <alwaysOn>${updateRate}</alwaysOn>
      ...
  </gazebo>
</robot>

Example Generated URDF

<robot>
  ...
  <gazebo>
    <plugin name="diffdrive_plugin_multiwheel" filename="libdiffdrive_plugin_multi_wheel.so">
          <alwaysOn>true</alwaysOn>
      ...
  </gazebo>
  ...
</robot>