gazebo_ros_block_laser.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: ros laser controller.
 * Author: Nathan Koenig
 * Date: 01 Feb 2007
 * SVN: $Id: gazebo_ros_block_laser.hh 6656 2008-06-20 22:52:19Z natepak $
 */

#ifndef GAZEBO_ROS_BLOCK_LASER_HH
#define GAZEBO_ROS_BLOCK_LASER_HH

// Custom Callback Queue
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>

#include <gazebo/Controller.hh>

#include <ros/ros.h>
#include "boost/thread/mutex.hpp"
#include <sensor_msgs/PointCloud.h>
#include <gazebo/Param.hh>

namespace gazebo
{
  class RaySensor;


class GazeboRosBlockLaser : public Controller
{
  public: GazeboRosBlockLaser(Entity *parent);

  public: virtual ~GazeboRosBlockLaser();

  protected: virtual void LoadChild(XMLConfigNode *node);

  protected: virtual void InitChild();

  protected: virtual void UpdateChild();

  protected: virtual void FiniChild();

  private: void PutLaserData();

  private: int laserConnectCount;
  private: void LaserConnect();
  private: void LaserDisconnect();

  private: RaySensor *myParent;

  private: ros::NodeHandle* rosnode_;
  private: ros::Publisher pub_;

  private: sensor_msgs::PointCloud cloudMsg;
 
  private: ParamT<std::string> *topicNameP;
  private: std::string topicName;

  private: ParamT<std::string> *frameNameP;
  private: std::string frameName;

  private: ParamT<double> *gaussianNoiseP;
  private: double gaussianNoise;

  private: double GaussianKernel(double mu,double sigma);

  private: boost::mutex lock;


  private: ParamT<std::string> *robotNamespaceP;
  private: std::string robotNamespace;

  // Custom Callback Queue
  private: ros::CallbackQueue queue_;
  private: void QueueThread();
  private: boost::thread callback_queue_thread_;

};



}

#endif

---

gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Fri Jan 11 10:09:24 2013