API Event Types Overview?

asked 2017-08-08 10:20:38 -0500

Phydeaux gravatar image

If I am writing a plugin and want a method to be called periodically, I can register it as a callback using (e.g.) event::Events::ConnectWorldUpdateBegin, as shown in this tutorial.

However, checking the API reference for more information about this function shows that there are many similar functions: ConnectWorldUpdateBegin, ConnectWorldUpdateEnd, ConnectStep, ConnectBeforePhysicsUpdate, etc., as well as others whose names are (I hope) self-explanatory, such as ConnectAddEntity. The function descriptions are all of the form "Connect a callback to the [name of function] signal."

I am left with several questions:

  • When is it appropriate to add a callback to the various event types?
  • In what order are they triggered?
  • What is the difference between (e.g.) a 'step' and a 'physics update'?

Is there some overview of the events that occur during a Gazebo iteration that I can read? More generally, is there any documentation of Gazebo other than the tutorials?

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