gazebo::GazeboRosLaser Class Reference
[ROS Laser Scanner Controller Plugin]

ROS laser scan controller. More...

#include <gazebo_ros_laser.h>

List of all members.

Public Member Functions
	GazeboRosLaser (Entity *parent)
	Constructor.
virtual	~GazeboRosLaser ()
	Destructor.
Protected Member Functions
virtual void	FiniChild ()
	Finalize the controller.
virtual void	InitChild ()
	Init the controller.
virtual void	LoadChild (XMLConfigNode *node)
	Load the controller.
virtual void	UpdateChild ()
	Update the controller.
Private Member Functions
void	DeprecatedLaserConnect ()
void	DeprecatedLaserDisconnect ()
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator.
void	LaserConnect ()
void	LaserDisconnect ()
void	PutLaserData ()
	Put laser data to the ROS topic.
Private Attributes
ros::Publisher	deprecated_pub_
int	deprecatedLaserConnectCount
std::string	deprecatedTopicName
ParamT< std::string > *	deprecatedTopicNameP
std::string	frameName
ParamT< std::string > *	frameNameP
	frame transform name, should match link name
double	gaussianNoise
ParamT< double > *	gaussianNoiseP
	Gaussian noise.
double	hokuyoMinIntensity
ParamT< double > *	hokuyoMinIntensityP
	hack to mimic hokuyo intensity cutoff of 100
int	laserConnectCount
	Keep track of number of connctions.
sensor_msgs::LaserScan	laserMsg
	ros message
boost::mutex	lock
	A mutex to lock access to fields that are used in message callbacks.
RaySensor *	myParent
	The parent sensor.
ros::Publisher	pub_
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
	for setting ROS name space
ros::NodeHandle *	rosnode_
	pointer to ros node
std::string	topicName
ParamT< std::string > *	topicNameP
	topic name

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Detailed Description

ROS laser scan controller.

• Starts a ROS node if none exists.
• Simulates a laser range sensor and publish sensor_msgs::LaserScan.msg over ROS.
• Example Usage:

      <model:physical name="ray_model">
        <body:empty name="ray_body_name">
          <sensor:ray name="ray_sensor">
            <origin>0.0 0.0 0.0</origin>
            <rayCount>683</rayCount>
            <rangeCount>683</rangeCount>
            <laserCount>1</laserCount>
            <displayRays>false</displayRays>
            <minAngle>-45</minAngle>
            <maxAngle> 45</maxAngle>
            <minRange>0.05</minRange>
            <maxRange>10.0</maxRange>
            <updateRate>10.0</updateRate>
            <controller:gazebo_ros_laser name="ros_ray_sensor_controller" plugin="libgazebo_ros_laser.so">
              <gaussianNoise>0.005</gaussianNoise>
              <alwaysOn>true</alwaysOn>
              <updateRate>15.0</updateRate>
              <topicName>ray_scan</topicName>
              <frameName>ray_model</frameName>
              <interface:laser name="ros_ray_sensor_iface" />
            </controller:gazebo_ros_laser>
          </sensor:ray>
        </body:empty>
      </model:phyiscal>
    

Definition at line 122 of file gazebo_ros_laser.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosLaser::GazeboRosLaser

(

Entity *

parent

)

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 51 of file gazebo_ros_laser.cpp.

gazebo::GazeboRosLaser::~GazeboRosLaser

(

)

[virtual]

Destructor.

Definition at line 74 of file gazebo_ros_laser.cpp.

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Member Function Documentation

void gazebo::GazeboRosLaser::DeprecatedLaserConnect

(

)

[private]

Definition at line 175 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::DeprecatedLaserDisconnect

(

)

[private]

Definition at line 183 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::FiniChild

(

)

[protected, virtual]

Finalize the controller.

Definition at line 212 of file gazebo_ros_laser.cpp.

double gazebo::GazeboRosLaser::GaussianKernel	(	double	mu,
		double	sigma
	)			[private]

Gaussian noise generator.

Definition at line 307 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::InitChild

(

)

[protected, virtual]

Init the controller.

Definition at line 147 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::LaserConnect

(

)

[private]

Definition at line 159 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::LaserDisconnect

(

)

[private]

Definition at line 165 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::LoadChild

(

XMLConfigNode *

node

)

[protected, virtual]

Load the controller.

Parameters:

node

XML config node

Definition at line 87 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::PutLaserData

(

)

[private]

Put laser data to the ROS topic.

Definition at line 225 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::UpdateChild

(

)

[protected, virtual]

Update the controller.

Definition at line 193 of file gazebo_ros_laser.cpp.

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Member Data Documentation

ros::Publisher gazebo::GazeboRosLaser::deprecated_pub_ [private]

Definition at line 161 of file gazebo_ros_laser.h.

int gazebo::GazeboRosLaser::deprecatedLaserConnectCount [private]

Definition at line 151 of file gazebo_ros_laser.h.

std::string gazebo::GazeboRosLaser::deprecatedTopicName [private]

Definition at line 170 of file gazebo_ros_laser.h.

ParamT<std::string>* gazebo::GazeboRosLaser::deprecatedTopicNameP [private]

Definition at line 169 of file gazebo_ros_laser.h.

std::string gazebo::GazeboRosLaser::frameName [private]

Definition at line 174 of file gazebo_ros_laser.h.

ParamT<std::string>* gazebo::GazeboRosLaser::frameNameP [private]

frame transform name, should match link name

Definition at line 173 of file gazebo_ros_laser.h.

double gazebo::GazeboRosLaser::gaussianNoise [private]

Definition at line 178 of file gazebo_ros_laser.h.

ParamT<double>* gazebo::GazeboRosLaser::gaussianNoiseP [private]

Gaussian noise.

Definition at line 177 of file gazebo_ros_laser.h.

double gazebo::GazeboRosLaser::hokuyoMinIntensity [private]

Definition at line 188 of file gazebo_ros_laser.h.

ParamT<double>* gazebo::GazeboRosLaser::hokuyoMinIntensityP [private]

hack to mimic hokuyo intensity cutoff of 100

Definition at line 187 of file gazebo_ros_laser.h.

int gazebo::GazeboRosLaser::laserConnectCount [private]

Keep track of number of connctions.

Definition at line 148 of file gazebo_ros_laser.h.

sensor_msgs::LaserScan gazebo::GazeboRosLaser::laserMsg [private]

ros message

Definition at line 164 of file gazebo_ros_laser.h.

boost::mutex gazebo::GazeboRosLaser::lock [private]

A mutex to lock access to fields that are used in message callbacks.

Definition at line 184 of file gazebo_ros_laser.h.

RaySensor* gazebo::GazeboRosLaser::myParent [private]

The parent sensor.

Definition at line 156 of file gazebo_ros_laser.h.

ros::Publisher gazebo::GazeboRosLaser::pub_ [private]

Definition at line 160 of file gazebo_ros_laser.h.

std::string gazebo::GazeboRosLaser::robotNamespace [private]

Definition at line 192 of file gazebo_ros_laser.h.

ParamT<std::string>* gazebo::GazeboRosLaser::robotNamespaceP [private]

for setting ROS name space

Definition at line 191 of file gazebo_ros_laser.h.

ros::NodeHandle* gazebo::GazeboRosLaser::rosnode_ [private]

pointer to ros node

Definition at line 159 of file gazebo_ros_laser.h.

std::string gazebo::GazeboRosLaser::topicName [private]

Definition at line 168 of file gazebo_ros_laser.h.

ParamT<std::string>* gazebo::GazeboRosLaser::topicNameP [private]

topic name

Definition at line 167 of file gazebo_ros_laser.h.

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

• gazebo_ros_laser.h
• gazebo_ros_laser.cpp