gazebo_snapshot_tools

creates and restores a snapshot bag of link states from/to Gazebo simulator

create_snapshot

Sequence

Parameters

~snapshot_bag (string, default: "snapshot.bag")

• path to snapshot bag to write

~timeout (double, default: 10.0)

• creation timeout in sec

restore_snapshot

Sequence

Parameters

~snapshot_bag (string, default: "snapshot.bag")

• path to snapshot bag to read

~timeout (double, default: 10.0)

• restoration timeout in sec

create_snapshot_by_joy

Sequence and parameters are same as create_snapshot

Additional subscribed topics

joy (sensor_msgs/Joy)

Additional parameters

~button (int, default: 2)

• button id to trigger creation
• defaults to circle button of PS4 joystick

restore_snapshot_by_joy

Sequence and parameters are same as restore_snapshot

Additional subscribed topics

joy (sensor_msgs/Joy)

Additional parameters

~button (int, default: 1)

• button id to trigger restoration
• defaults to cross button of PS4 joystick