Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
gazebo::GazeboRosControllerManager Class Reference

#include <gazebo_ros_controller_manager.h>

Inheritance diagram for gazebo::GazeboRosControllerManager:
Inheritance graph
[legend]

Public Member Functions

 GazeboRosControllerManager ()
 
void Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
 
virtual ~GazeboRosControllerManager ()
 

Protected Member Functions

virtual void UpdateChild ()
 

Private Member Functions

void ControllerManagerROSThread ()
 
void ReadPr2Xml ()
 Service Call Name. More...
 
bool setModelsJointsStates (pr2_gazebo_plugins::SetModelsJointsStates::Request &req, pr2_gazebo_plugins::SetModelsJointsStates::Response &res)
 ros service callback More...
 

Private Attributes

pr2_controller_manager::ControllerManagercm_
 
bool fake_calibration_
 
pr2_mechanism_model::RobotStatefake_state_
 
pr2_hardware_interface::HardwareInterface hw_
 
std::vector< gazebo::physics::JointPtr > joints_
 
transport::NodePtr node
 
gazebo::physics::ModelPtr parent_model_
 
std::string robotNamespace
 
std::string robotParam
 set topic name of robot description parameter More...
 
boost::thread ros_spinner_thread_
 
ros::NodeHandlerosnode_
 
ros::ServiceServer setModelsJointsStatesService
 ros service More...
 
double sim_start_
 
common::Time simTime
 
transport::SubscriberPtr statsSub
 
event::ConnectionPtr updateConnection
 
double wall_start_
 ros service callback More...
 
physics::WorldPtr world
 

Detailed Description

Definition at line 59 of file gazebo_ros_controller_manager.h.

Constructor & Destructor Documentation

◆ GazeboRosControllerManager()

gazebo::GazeboRosControllerManager::GazeboRosControllerManager ( )

Definition at line 53 of file gazebo_ros_controller_manager.cpp.

◆ ~GazeboRosControllerManager()

gazebo::GazeboRosControllerManager::~GazeboRosControllerManager ( )
virtual

Definition at line 66 of file gazebo_ros_controller_manager.cpp.

Member Function Documentation

◆ ControllerManagerROSThread()

void gazebo::GazeboRosControllerManager::ControllerManagerROSThread ( )
private

Definition at line 447 of file gazebo_ros_controller_manager.cpp.

◆ Load()

void gazebo::GazeboRosControllerManager::Load ( physics::ModelPtr  _parent,
sdf::ElementPtr  _sdf 
)

Definition at line 96 of file gazebo_ros_controller_manager.cpp.

◆ ReadPr2Xml()

void gazebo::GazeboRosControllerManager::ReadPr2Xml ( )
private

Service Call Name.

Definition at line 361 of file gazebo_ros_controller_manager.cpp.

◆ setModelsJointsStates()

bool gazebo::GazeboRosControllerManager::setModelsJointsStates ( pr2_gazebo_plugins::SetModelsJointsStates::Request &  req,
pr2_gazebo_plugins::SetModelsJointsStates::Response &  res 
)
private

ros service callback

◆ UpdateChild()

void gazebo::GazeboRosControllerManager::UpdateChild ( )
protectedvirtual

Definition at line 215 of file gazebo_ros_controller_manager.cpp.

Member Data Documentation

◆ cm_

pr2_controller_manager::ControllerManager* gazebo::GazeboRosControllerManager::cm_
private

Definition at line 74 of file gazebo_ros_controller_manager.h.

◆ fake_calibration_

bool gazebo::GazeboRosControllerManager::fake_calibration_
private

Definition at line 115 of file gazebo_ros_controller_manager.h.

◆ fake_state_

pr2_mechanism_model::RobotState* gazebo::GazeboRosControllerManager::fake_state_
private
Todo:
The fake state helps Gazebo run the transmissions backwards, so that it can figure out what its joints should do based on the actuator values.

Definition at line 79 of file gazebo_ros_controller_manager.h.

◆ hw_

pr2_hardware_interface::HardwareInterface gazebo::GazeboRosControllerManager::hw_
private

Definition at line 73 of file gazebo_ros_controller_manager.h.

◆ joints_

std::vector<gazebo::physics::JointPtr> gazebo::GazeboRosControllerManager::joints_
private

Definition at line 80 of file gazebo_ros_controller_manager.h.

◆ node

transport::NodePtr gazebo::GazeboRosControllerManager::node
private

Definition at line 132 of file gazebo_ros_controller_manager.h.

◆ parent_model_

gazebo::physics::ModelPtr gazebo::GazeboRosControllerManager::parent_model_
private

Definition at line 72 of file gazebo_ros_controller_manager.h.

◆ robotNamespace

std::string gazebo::GazeboRosControllerManager::robotNamespace
private

Definition at line 113 of file gazebo_ros_controller_manager.h.

◆ robotParam

std::string gazebo::GazeboRosControllerManager::robotParam
private

set topic name of robot description parameter

Definition at line 112 of file gazebo_ros_controller_manager.h.

◆ ros_spinner_thread_

boost::thread gazebo::GazeboRosControllerManager::ros_spinner_thread_
private

Definition at line 123 of file gazebo_ros_controller_manager.h.

◆ rosnode_

ros::NodeHandle* gazebo::GazeboRosControllerManager::rosnode_
private

Definition at line 94 of file gazebo_ros_controller_manager.h.

◆ setModelsJointsStatesService

ros::ServiceServer gazebo::GazeboRosControllerManager::setModelsJointsStatesService
private

ros service

Definition at line 97 of file gazebo_ros_controller_manager.h.

◆ sim_start_

double gazebo::GazeboRosControllerManager::sim_start_
private

Definition at line 107 of file gazebo_ros_controller_manager.h.

◆ simTime

common::Time gazebo::GazeboRosControllerManager::simTime
private

Definition at line 134 of file gazebo_ros_controller_manager.h.

◆ statsSub

transport::SubscriberPtr gazebo::GazeboRosControllerManager::statsSub
private

Definition at line 133 of file gazebo_ros_controller_manager.h.

◆ updateConnection

event::ConnectionPtr gazebo::GazeboRosControllerManager::updateConnection
private

Definition at line 129 of file gazebo_ros_controller_manager.h.

◆ wall_start_

double gazebo::GazeboRosControllerManager::wall_start_
private

ros service callback

Definition at line 107 of file gazebo_ros_controller_manager.h.

◆ world

physics::WorldPtr gazebo::GazeboRosControllerManager::world
private

Definition at line 126 of file gazebo_ros_controller_manager.h.


The documentation for this class was generated from the following files:


pr2_gazebo_plugins
Author(s): John Hsu
autogenerated on Sun Apr 17 2022 02:26:35