World XML definition of Simulable entities

Vehicles and obstacles blocks share common C++ mvsim::Simulable and mvsim::VisualObject interfaces that provide the common parameters below.

Note

The following parameters can appear in either the {vehicle,block} class definitions or in a particular instantiation block, depending on whether you want parameters to be common to all instances or not, respectively.

Related to topic publication

Under the <publish> </publish> tag group:

• publish_pose_topic: If provided, the pose of this object will be published as a topic with message type mvsim_msgs::Pose.

• publish_pose_period: Period (in seconds) for the topic publication.

Example:

<publish>
  <publish_pose_topic>/r1/pose</publish_pose_topic>
  <publish_pose_period>50e-3</publish_pose_period>
</publish>