GazeboROSNode Class Reference

List of all members.

Classes
class	ForceJointJob
class	WrenchBodyJob
Public Member Functions
void	AdvertiseServices ()
	advertise services
bool	applyBodyWrench (gazebo_msgs::ApplyBodyWrench::Request &req, gazebo_msgs::ApplyBodyWrench::Response &res)
bool	applyJointEffort (gazebo_msgs::ApplyJointEffort::Request &req, gazebo_msgs::ApplyJointEffort::Response &res)
bool	clearBodyWrenches (std::string body_name)
bool	clearBodyWrenches (gazebo_msgs::BodyRequest::Request &req, gazebo_msgs::BodyRequest::Response &res)
bool	clearJointForces (std::string joint_name)
bool	clearJointForces (gazebo_msgs::JointRequest::Request &req, gazebo_msgs::JointRequest::Response &res)
bool	deleteModel (gazebo_msgs::DeleteModel::Request &req, gazebo_msgs::DeleteModel::Response &res)
	delete model given name
bool	findJointPosition (double &position, std::string name, std::vector< std::string > joint_names, std::vector< double > joint_positions)
void	gazeboQueueThread ()
	ros queue thread for this node
	GazeboROSNode ()
void	getAllChildrenBodies (std::vector< gazebo::Body * > &bodies, gazebo::Model model, gazebo::Body body)
void	getAllParentBodies (std::vector< gazebo::Body * > &bodies, gazebo::Model model, gazebo::Body body, gazebo::Body *orig_parent_body)
gazebo::Body *	getChildBody (gazebo::Joint *joint)
bool	getJointProperties (gazebo_msgs::GetJointProperties::Request &req, gazebo_msgs::GetJointProperties::Response &res)
bool	getLinkProperties (gazebo_msgs::GetLinkProperties::Request &req, gazebo_msgs::GetLinkProperties::Response &res)
bool	getLinkState (gazebo_msgs::GetLinkState::Request &req, gazebo_msgs::GetLinkState::Response &res)
bool	getModelProperties (gazebo_msgs::GetModelProperties::Request &req, gazebo_msgs::GetModelProperties::Response &res)
bool	getModelState (gazebo_msgs::GetModelState::Request &req, gazebo_msgs::GetModelState::Response &res)
gazebo::Body *	getParentBody (gazebo::Joint *joint)
bool	getPhysicsProperties (gazebo_msgs::GetPhysicsProperties::Request &req, gazebo_msgs::GetPhysicsProperties::Response &res)
bool	getWorldProperties (gazebo_msgs::GetWorldProperties::Request &req, gazebo_msgs::GetWorldProperties::Response &res)
bool	inBodies (gazebo::Body body, std::vector< gazebo::Body > bodies)
void	onLinkStatesConnect ()
void	onLinkStatesDisconnect ()
void	onModelStatesConnect ()
void	onModelStatesDisconnect ()
bool	pausePhysics (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	resetSimulation (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	resetWorld (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	rotateBodyAndChildren (gazebo::Body *body1, gazebo::Vector3 anchor, gazebo::Vector3 axis, double dangle, bool update_children=true)
bool	setJointProperties (gazebo_msgs::SetJointProperties::Request &req, gazebo_msgs::SetJointProperties::Response &res)
bool	setLinkProperties (gazebo_msgs::SetLinkProperties::Request &req, gazebo_msgs::SetLinkProperties::Response &res)
bool	setLinkState (gazebo_msgs::SetLinkState::Request &req, gazebo_msgs::SetLinkState::Response &res)
bool	setModelConfiguration (gazebo_msgs::SetModelConfiguration::Request &req, gazebo_msgs::SetModelConfiguration::Response &res)
void	setModelJointPositions (gazebo::Model *gazebo_model, std::vector< std::string > joint_names, std::vector< double > joint_positions)
bool	setModelState (gazebo_msgs::SetModelState::Request &req, gazebo_msgs::SetModelState::Response &res)
bool	setPhysicsProperties (gazebo_msgs::SetPhysicsProperties::Request &req, gazebo_msgs::SetPhysicsProperties::Response &res)
void	slideBodyAndChildren (gazebo::Body *body1, gazebo::Vector3 anchor, gazebo::Vector3 axis, double dposition, bool update_children=true)
bool	spawnGazeboModel (gazebo_msgs::SpawnModel::Request &req, gazebo_msgs::SpawnModel::Response &res)
bool	spawnURDFModel (gazebo_msgs::SpawnModel::Request &req, gazebo_msgs::SpawnModel::Response &res)
void	transformWrench (gazebo::Vector3 &target_force, gazebo::Vector3 &target_torque, gazebo::Vector3 reference_force, gazebo::Vector3 reference_torque, gazebo::Pose3d target_to_reference)
	shift wrench from reference frame to target frame assume wrench is defined in
bool	unpausePhysics (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	updateLinkState (const gazebo_msgs::LinkState::ConstPtr &link_state)
void	updateModelState (const gazebo_msgs::ModelState::ConstPtr &model_state)
	~GazeboROSNode ()
Private Member Functions
void	forceJointSchedulerSlot ()
gazebo::Joint *	getJointByName (std::string joint_name)
	get joint by name
bool	IsColladaData (const std::string &data)
bool	IsGazeboModelXML (std::string model_xml)
bool	IsURDF (std::string model_xml)
	utilites for checking incoming string URDF/XML/Param
void	PhysicsReconfigureCallback (gazebo::PhysicsConfig &config, uint32_t level)
void	PhysicsReconfigureNode ()
void	publishLinkStates ()
void	publishModelStates ()
void	publishSimTime ()
void	SetupTransform (btTransform &transform, geometry_msgs::Pose pose)
void	SetupTransform (btTransform &transform, urdf::Pose pose)
	utility for transforming in SetModelConfiguration
void	wrenchBodySchedulerSlot ()
Private Attributes
ros::ServiceServer	apply_body_wrench_service_
ros::ServiceServer	apply_joint_effort_service_
ros::ServiceServer	clear_body_wrenches_service_
ros::ServiceServer	clear_joint_forces_service_
ros::ServiceServer	delete_model_service_
std::vector < GazeboROSNode::ForceJointJob * >	force_joint_jobs
boost::thread *	gazebo_callback_queue_thread_
ros::CallbackQueue	gazebo_queue_
ros::ServiceServer	get_joint_properties_service_
ros::ServiceServer	get_link_properties_service_
ros::ServiceServer	get_link_state_service_
ros::ServiceServer	get_model_properties_service_
ros::ServiceServer	get_model_state_service_
ros::ServiceServer	get_physics_properties_service_
ros::ServiceServer	get_world_properties_service_
double	lastForceJointUpdateTime
double	lastWrenchBodyUpdateTime
boost::mutex	lock_
	A mutex to lock access to fields that are used in ROS message callbacks.
ros::ServiceServer	pause_physics_service_
ros::ServiceClient	physics_reconfigure_get_client_
bool	physics_reconfigure_initialized_
ros::ServiceClient	physics_reconfigure_set_client_
boost::thread *	physics_reconfigure_thread_
ros::Publisher	pub_clock_
ros::Publisher	pub_gazebo_paused_
ros::Publisher	pub_link_states_
int	pub_link_states_connection_count_
ros::Publisher	pub_model_states_
int	pub_model_states_connection_count_
ros::ServiceServer	reset_simulation_service_
ros::ServiceServer	reset_world_service_
ros::NodeHandle	rosnode_
ros::ServiceServer	set_joint_properties_service_
ros::ServiceServer	set_link_properties_service_
ros::ServiceServer	set_link_state_service_
ros::Subscriber	set_link_state_topic_
ros::ServiceServer	set_model_configuration_service_
ros::ServiceServer	set_model_state_service_
ros::Subscriber	set_model_state_topic_
ros::ServiceServer	set_physics_properties_service_
ros::ServiceServer	spawn_urdf_gazebo_service_
ros::ServiceServer	spawn_urdf_model_service_
tf::TransformBroadcaster	tfbr
	broadcast transform between all models and the gazebo inertial "world" frame
ros::ServiceServer	unpause_physics_service_
std::vector < GazeboROSNode::WrenchBodyJob * >	wrench_body_jobs
std::string	xmlPrefix_
	prefix and suffix used for conversion from URDF to Gazebo XML
std::string	xmlSuffix_

Detailed Description

Definition at line 303 of file gazeboros.cpp.

Constructor & Destructor Documentation

GazeboROSNode::GazeboROSNode ( ) [inline]

setup custom callback queue

start a thread for the physics dynamic reconfigure node

advertise all services

Definition at line 306 of file gazeboros.cpp.

GazeboROSNode::~GazeboROSNode ( ) [inline]

Definition at line 336 of file gazeboros.cpp.

Member Function Documentation

void GazeboROSNode::AdvertiseServices ( ) [inline]

advertise services

Definition at line 394 of file gazeboros.cpp.

bool GazeboROSNode::applyBodyWrench	(	gazebo_msgs::ApplyBodyWrench::Request &	req,
		gazebo_msgs::ApplyBodyWrench::Response &	res
	)			`[inline]`

shift wrench to body frame if a non-zero reference point is given

Todo:: : to be more general, should we make the reference point a reference pose?

Todo:: : FIXME map is really wrong, need to use tf here somehow

Definition at line 1980 of file gazeboros.cpp.

bool GazeboROSNode::applyJointEffort	(	gazebo_msgs::ApplyJointEffort::Request &	req,
		gazebo_msgs::ApplyJointEffort::Response &	res
	)			`[inline]`

Definition at line 1469 of file gazeboros.cpp.

bool GazeboROSNode::clearBodyWrenches ( std::string body_name ) [inline]

Definition at line 1572 of file gazeboros.cpp.

bool GazeboROSNode::clearBodyWrenches	(	gazebo_msgs::BodyRequest::Request &	req,
		gazebo_msgs::BodyRequest::Response &	res
	)			`[inline]`

Definition at line 1568 of file gazeboros.cpp.

bool GazeboROSNode::clearJointForces ( std::string joint_name ) [inline]

Definition at line 1543 of file gazeboros.cpp.

bool GazeboROSNode::clearJointForces	(	gazebo_msgs::JointRequest::Request &	req,
		gazebo_msgs::JointRequest::Response &	res
	)			`[inline]`

Definition at line 1539 of file gazeboros.cpp.

bool GazeboROSNode::deleteModel	(	gazebo_msgs::DeleteModel::Request &	req,
		gazebo_msgs::DeleteModel::Response &	res
	)			`[inline]`

delete model given name

Definition at line 852 of file gazeboros.cpp.

bool GazeboROSNode::findJointPosition	(	double &	position,
		std::string	name,
		std::vector< std::string >	joint_names,
		std::vector< double >	joint_positions
	)			`[inline]`

Definition at line 1810 of file gazeboros.cpp.

void GazeboROSNode::forceJointSchedulerSlot ( ) [inline, private]

Definition at line 2369 of file gazeboros.cpp.

void GazeboROSNode::gazeboQueueThread ( ) [inline]

ros queue thread for this node

Definition at line 372 of file gazeboros.cpp.

void GazeboROSNode::getAllChildrenBodies	(	std::vector< gazebo::Body * > &	bodies,
		gazebo::Model *	model,
		gazebo::Body *	body
	)			`[inline]`

Definition at line 1754 of file gazeboros.cpp.

void GazeboROSNode::getAllParentBodies	(	std::vector< gazebo::Body * > &	bodies,
		gazebo::Model *	model,
		gazebo::Body *	body,
		gazebo::Body *	orig_parent_body
	)			`[inline]`

Definition at line 1779 of file gazeboros.cpp.

gazebo::Body* GazeboROSNode::getChildBody ( gazebo::Joint * joint ) [inline]

Definition at line 1681 of file gazeboros.cpp.

gazebo::Joint* GazeboROSNode::getJointByName ( std::string joint_name ) [inline, private]

get joint by name

Definition at line 2290 of file gazeboros.cpp.

bool GazeboROSNode::getJointProperties	(	gazebo_msgs::GetJointProperties::Request &	req,
		gazebo_msgs::GetJointProperties::Response &	res
	)			`[inline]`

Todo:: : FIXME

Definition at line 1059 of file gazeboros.cpp.

bool GazeboROSNode::getLinkProperties	(	gazebo_msgs::GetLinkProperties::Request &	req,
		gazebo_msgs::GetLinkProperties::Response &	res
	)			`[inline]`

Todo:: : FIXME

Definition at line 1097 of file gazeboros.cpp.

bool GazeboROSNode::getLinkState	(	gazebo_msgs::GetLinkState::Request &	req,
		gazebo_msgs::GetLinkState::Response &	res
	)			`[inline]`

Todo:: : FIXME map is really wrong, need to use tf here somehow

Definition at line 1140 of file gazeboros.cpp.

bool GazeboROSNode::getModelProperties	(	gazebo_msgs::GetModelProperties::Request &	req,
		gazebo_msgs::GetModelProperties::Response &	res
	)			`[inline]`

Definition at line 988 of file gazeboros.cpp.

bool GazeboROSNode::getModelState	(	gazebo_msgs::GetModelState::Request &	req,
		gazebo_msgs::GetModelState::Response &	res
	)			`[inline]`

Todo:: : FIXME map is really wrong, need to use tf here somehow

Definition at line 915 of file gazeboros.cpp.

gazebo::Body* GazeboROSNode::getParentBody ( gazebo::Joint * joint ) [inline]

Definition at line 1692 of file gazeboros.cpp.

bool GazeboROSNode::getPhysicsProperties	(	gazebo_msgs::GetPhysicsProperties::Request &	req,
		gazebo_msgs::GetPhysicsProperties::Response &	res
	)			`[inline]`

Definition at line 1269 of file gazeboros.cpp.

bool GazeboROSNode::getWorldProperties	(	gazebo_msgs::GetWorldProperties::Request &	req,
		gazebo_msgs::GetWorldProperties::Response &	res
	)			`[inline]`

Definition at line 1043 of file gazeboros.cpp.

bool GazeboROSNode::inBodies	(	gazebo::Body *	body,
		std::vector< gazebo::Body * >	bodies
	)			`[inline]`

Definition at line 1803 of file gazeboros.cpp.

bool GazeboROSNode::IsColladaData ( const std::string & data ) [inline, private]

Definition at line 2275 of file gazeboros.cpp.

bool GazeboROSNode::IsGazeboModelXML ( std::string model_xml ) [inline, private]

Definition at line 2279 of file gazeboros.cpp.

bool GazeboROSNode::IsURDF ( std::string model_xml ) [inline, private]

utilites for checking incoming string URDF/XML/Param

Definition at line 2266 of file gazeboros.cpp.

void GazeboROSNode::onLinkStatesConnect ( ) [inline]

Definition at line 604 of file gazeboros.cpp.

void GazeboROSNode::onLinkStatesDisconnect ( ) [inline]

Definition at line 616 of file gazeboros.cpp.

void GazeboROSNode::onModelStatesConnect ( ) [inline]

Definition at line 610 of file gazeboros.cpp.

void GazeboROSNode::onModelStatesDisconnect ( ) [inline]

Definition at line 624 of file gazeboros.cpp.

bool GazeboROSNode::pausePhysics	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)			`[inline]`

Definition at line 1523 of file gazeboros.cpp.

void GazeboROSNode::PhysicsReconfigureCallback	(	gazebo::PhysicsConfig &	config,
		uint32_t	level
	)			`[inline, private]`

Definition at line 2139 of file gazeboros.cpp.

void GazeboROSNode::PhysicsReconfigureNode ( ) [inline, private]

Definition at line 2212 of file gazeboros.cpp.

void GazeboROSNode::publishLinkStates ( ) [inline, private]

Definition at line 2419 of file gazeboros.cpp.

void GazeboROSNode::publishModelStates ( ) [inline, private]

Definition at line 2463 of file gazeboros.cpp.

void GazeboROSNode::publishSimTime ( ) [inline, private]

Definition at line 2404 of file gazeboros.cpp.

bool GazeboROSNode::resetSimulation	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)			`[inline]`

Definition at line 1507 of file gazeboros.cpp.

bool GazeboROSNode::resetWorld	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)			`[inline]`

Definition at line 1515 of file gazeboros.cpp.

void GazeboROSNode::rotateBodyAndChildren	(	gazebo::Body *	body1,
		gazebo::Vector3	anchor,
		gazebo::Vector3	axis,
		double	dangle,
		bool	update_children = `true`
	)			`[inline]`

Definition at line 1702 of file gazeboros.cpp.

bool GazeboROSNode::setJointProperties	(	gazebo_msgs::SetJointProperties::Request &	req,
		gazebo_msgs::SetJointProperties::Response &	res
	)			`[inline]`

Todo:: : FIXME: current settings only allows for setting of 1DOF joints (e.g. HingeJoint and SliderJoint) correctly.

Definition at line 1299 of file gazeboros.cpp.

bool GazeboROSNode::setLinkProperties	(	gazebo_msgs::SetLinkProperties::Request &	req,
		gazebo_msgs::SetLinkProperties::Response &	res
	)			`[inline]`

Definition at line 1206 of file gazeboros.cpp.

bool GazeboROSNode::setLinkState	(	gazebo_msgs::SetLinkState::Request &	req,
		gazebo_msgs::SetLinkState::Response &	res
	)			`[inline]`

Todo:: : FIXME map is really wrong, unless using tf here somehow

Definition at line 1829 of file gazeboros.cpp.

bool GazeboROSNode::setModelConfiguration	(	gazebo_msgs::SetModelConfiguration::Request &	req,
		gazebo_msgs::SetModelConfiguration::Response &	res
	)			`[inline]`

Definition at line 1598 of file gazeboros.cpp.

void GazeboROSNode::setModelJointPositions	(	gazebo::Model *	gazebo_model,
		std::vector< std::string >	joint_names,
		std::vector< double >	joint_positions
	)			`[inline]`

Definition at line 1626 of file gazeboros.cpp.

bool GazeboROSNode::setModelState	(	gazebo_msgs::SetModelState::Request &	req,
		gazebo_msgs::SetModelState::Response &	res
	)			`[inline]`

Todo:: : FIXME map is really wrong, need to use tf here somehow

Definition at line 1349 of file gazeboros.cpp.

bool GazeboROSNode::setPhysicsProperties	(	gazebo_msgs::SetPhysicsProperties::Request &	req,
		gazebo_msgs::SetPhysicsProperties::Response &	res
	)			`[inline]`

Definition at line 1235 of file gazeboros.cpp.

void GazeboROSNode::SetupTransform	(	btTransform &	transform,
		geometry_msgs::Pose	pose
	)			`[inline, private]`

Definition at line 2255 of file gazeboros.cpp.

void GazeboROSNode::SetupTransform	(	btTransform &	transform,
		urdf::Pose	pose
	)			`[inline, private]`

utility for transforming in SetModelConfiguration

Definition at line 2249 of file gazeboros.cpp.

void GazeboROSNode::slideBodyAndChildren	(	gazebo::Body *	body1,
		gazebo::Vector3	anchor,
		gazebo::Vector3	axis,
		double	dposition,
		bool	update_children = `true`
	)			`[inline]`

Definition at line 1729 of file gazeboros.cpp.

bool GazeboROSNode::spawnGazeboModel	(	gazebo_msgs::SpawnModel::Request &	req,
		gazebo_msgs::SpawnModel::Response &	res
	)			`[inline]`

Todo:: : FIXME map is really wrong, need to use tf here somehow

STRIP DECLARATION <? ... xml version="1.0" ... ?> from model_xml

Todo:: : does tinyxml have functionality for this?

Todo:: : should gazebo take care of the declaration?

poll and wait, verify that the model is spawned within Hardcoded 60 seconds

Definition at line 687 of file gazeboros.cpp.

bool GazeboROSNode::spawnURDFModel	(	gazebo_msgs::SpawnModel::Request &	req,
		gazebo_msgs::SpawnModel::Response &	res
	)			`[inline]`

STRIP DECLARATION <? ... xml version="1.0" ... ?> from model_xml

Todo:: : does tinyxml have functionality for this?

Todo:: : should gazebo take care of the declaration?

Definition at line 633 of file gazeboros.cpp.

void GazeboROSNode::transformWrench	(	gazebo::Vector3 &	target_force,
		gazebo::Vector3 &	target_torque,
		gazebo::Vector3	reference_force,
		gazebo::Vector3	reference_torque,
		gazebo::Pose3d	target_to_reference
	)			`[inline]`