gazebo_ros_block_laser.h
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* 00022 * Desc: ros laser controller. 00023 * Author: Nathan Koenig 00024 * Date: 01 Feb 2007 00025 * SVN: $Id: gazebo_ros_block_laser.hh 6656 2008-06-20 22:52:19Z natepak $ 00026 */ 00027 00028 #ifndef GAZEBO_ROS_BLOCK_LASER_HH 00029 #define GAZEBO_ROS_BLOCK_LASER_HH 00030 00031 // Custom Callback Queue 00032 #include <ros/callback_queue.h> 00033 #include <ros/advertise_options.h> 00034 00035 #include <gazebo/Controller.hh> 00036 00037 #include <ros/ros.h> 00038 #include "boost/thread/mutex.hpp" 00039 #include <sensor_msgs/PointCloud.h> 00040 #include <gazebo/Param.hh> 00041 00042 namespace gazebo 00043 { 00044 class RaySensor; 00045 00048 00138 class GazeboRosBlockLaser : public Controller 00139 { 00142 public: GazeboRosBlockLaser(Entity *parent); 00143 00145 public: virtual ~GazeboRosBlockLaser(); 00146 00149 protected: virtual void LoadChild(XMLConfigNode *node); 00150 00152 protected: virtual void InitChild(); 00153 00155 protected: virtual void UpdateChild(); 00156 00158 protected: virtual void FiniChild(); 00159 00161 private: void PutLaserData(); 00162 00164 private: int laserConnectCount; 00165 private: void LaserConnect(); 00166 private: void LaserDisconnect(); 00167 00169 private: RaySensor *myParent; 00170 00172 private: ros::NodeHandle* rosnode_; 00173 private: ros::Publisher pub_; 00174 00176 private: sensor_msgs::PointCloud cloudMsg; 00177 00179 private: ParamT<std::string> *topicNameP; 00180 private: std::string topicName; 00181 00184 private: ParamT<std::string> *frameNameP; 00185 private: std::string frameName; 00186 00188 private: ParamT<double> *gaussianNoiseP; 00189 private: double gaussianNoise; 00190 00192 private: double GaussianKernel(double mu,double sigma); 00193 00195 private: boost::mutex lock; 00196 00197 00199 private: ParamT<std::string> *robotNamespaceP; 00200 private: std::string robotNamespace; 00201 00202 // Custom Callback Queue 00203 private: ros::CallbackQueue queue_; 00204 private: void QueueThread(); 00205 private: boost::thread callback_queue_thread_; 00206 00207 }; 00208 00210 00211 00212 } 00213 00214 #endif 00215