Class ZOSimPrefabSpawnRequest

string model_name                   # name of the Unity prefab model to be spawn
string model_prefab_name            # this should be an .zosim json file all in text
string unity_asset_bundle           # the file name of the Unity asset bundle.  If empty  uses the "default_zero_sim_assets"
string unity_asset_bundle_uri       # URI to download a Unity asset bundle.  If empty  uses the "default_zero_sim_assets"
string robot_namespace              # spawn robot and all ROS interfaces under this namespace
geometry_msgs/Pose initial_pose     # only applied to canonical body
string reference_frame              # initial_pose is defined relative to the frame of this model/body
                                    # if left empty or "map", then Unity map frame is used
                                    # if non-existent model/body is specified, an error is returned
                                    #   and the model is not spawned
---
bool success                      # return true if spawn successful
string status_message             # comments if available

Inheritance

System.Object

ZOSimPrefabSpawnRequest

Implements

ZOROSMessageInterface

Inherited Members

System.Object.Equals(System.Object)

System.Object.Equals(System.Object, System.Object)

System.Object.GetHashCode()

System.Object.GetType()

System.Object.MemberwiseClone()

System.Object.ReferenceEquals(System.Object, System.Object)

System.Object.ToString()

Namespace: ZO.ROS.MessageTypes.ZOSim

Assembly: Unity.ZeroSim.dll

Syntax

public class ZOSimPrefabSpawnRequest : ZOROSMessageInterface

Constructors

ZOSimPrefabSpawnRequest()

Declaration

public ZOSimPrefabSpawnRequest()

ZOSimPrefabSpawnRequest(String, String, String, String, PoseMessage, String)

Declaration

public ZOSimPrefabSpawnRequest(string model_name, string model_prefab_name, string unity_asset_bundle, string unity_asset_bundle_uri, PoseMessage initial_pose, string reference_frame)

Parameters

Type	Name	Description
System.String	model_name
System.String	model_prefab_name
System.String	unity_asset_bundle
System.String	unity_asset_bundle_uri
PoseMessage	initial_pose
System.String	reference_frame

Properties

initial_pose

only applied to canonical body

Declaration

public PoseMessage initial_pose { get; set; }

Property Value

Type	Description
PoseMessage

MessageType

Declaration

[JsonIgnore]
public string MessageType { get; }

Property Value

Type	Description
System.String

model_name

Name of the model to be spawned. Will be the name of the Unity GameObject.

Declaration

public string model_name { get; set; }

Property Value

Type	Description
System.String

model_prefab_name

Name of the prefab to spawn

Declaration

public string model_prefab_name { get; set; }

Property Value

Type	Description
System.String

reference_frame

initial_pose is defined relative to the frame of this model/body if left empty or "world", then gazebo world frame is used if non-existent model/body is specified, an error is returned and the model is not spawned

Declaration

public string reference_frame { get; set; }

Property Value

Type	Description
System.String

robot_namespace

spawn robot and all ROS interfaces under this namespace

Declaration

public string robot_namespace { get; set; }

Property Value

Type	Description
System.String

unity_asset_bundle

the file name of the Unity asset bundle. If empty uses the "default_zero_sim_assets"

Declaration

public string unity_asset_bundle { get; set; }

Property Value

Type	Description
System.String

unity_asset_bundle_uri

the file name of the Unity asset bundle. URI to download a Unity asset bundle. If empty uses the "default_zero_sim_assets"

Declaration

public string unity_asset_bundle_uri { get; set; }

Property Value

Type	Description
System.String

Implements

ZOROSMessageInterface