Overview

The SimEventsPlugin contains multiple components, one of which is the OccupiedEvent. The OccupiedEvent will send a message on a topic whenever a model occupies a specified three dimensional region.

Usage and Example

The OccupiedEvent component is instantiated through the libSimEventsPlugin.so and relies on at least one <region> and <event>, where the <event> has a <type> of occupied.

In the following example, a region is specified as a box volume with a minimum corner at 0, 0, 0 and a maximum corner at 1, 1, 1 in the world coordinate frame. The name of this region is region1. An <event>, of <type> occupied, with the name region1_event is also specified that uses region1. When a model occupies region1 a string message with a data value of "0" is sent on the ~/elevator topic.

<plugin filename="libSimEventsPlugin.so" name="event_plugin">

  <region>
    <name>region1</name>
    <volume>
      <min>0 0 0</min>
      <max>0 1 1</max>
    </volume>
  </region>

  <event>
    <name>region1_event</name>
    <type>occupied</type>
    <region>region1</region>
    <topic>~/elevator</topic>
    <msg_data>0</msg_data>
  </event>

</plugin>

Multiple regions and events may be specified. See the worlds/elevator.world for a longer example.