gazebo::GazeboRosProsilica Class Reference
[Ros Camera Plugin XML Reference and Example]

#include <gazebo_ros_prosilica.h>

Public Member Functions
	GazeboRosProsilica (Entity *parent)
	Constructor.
virtual	~GazeboRosProsilica ()
	Destructor.
Protected Member Functions
virtual void	FiniChild ()
	Finalize the controller, unadvertise topics.
virtual void	InitChild ()
	Init the controller.
virtual void	LoadChild (XMLConfigNode *node)
	Load the controller.
virtual void	UpdateChild ()
	Update the controller.
Private Member Functions
void	ImageConnect ()
void	ImageDisconnect ()
void	InfoConnect ()
void	InfoDisconnect ()
void	pollCallback (polled_camera::GetPolledImage::Request &req, polled_camera::GetPolledImage::Response &rsp, sensor_msgs::Image &image, sensor_msgs::CameraInfo &info)
void	ProsilicaQueueThread ()
void	PublishCameraInfo ()
void	PutCameraData ()
Static Private Member Functions
static void	mouse_cb (int event, int x, int y, int flags, void *param)
	does nothing for now
Private Attributes
ros::Publisher	camera_info_pub_
sensor_msgs::CameraInfo	cameraInfoMsg
std::string	cameraInfoTopicName
ParamT< std::string > *	cameraInfoTopicNameP
double	Cx
ParamT< double > *	CxP
double	CxPrime
ParamT< double > *	CxPrimeP
double	Cy
ParamT< double > *	CyP
int	depth
double	distortion_k1
ParamT< double > *	distortion_k1P
double	distortion_k2
ParamT< double > *	distortion_k2P
double	distortion_k3
ParamT< double > *	distortion_k3P
double	distortion_t1
ParamT< double > *	distortion_t1P
double	distortion_t2
ParamT< double > *	distortion_t2P
double	focal_length
ParamT< double > *	focal_lengthP
std::string	frameName
	ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached.
ParamT< std::string > *	frameNameP
double	hack_baseline
ParamT< double > *	hack_baselineP
int	height
	size of image buffer
ros::Publisher	image_pub_
int	imageConnectCount
	Keep track of number of connctions.
sensor_msgs::Image	imageMsg
	ros message
std::string	imageTopicName
	ROS image topic name.
ParamT< std::string > *	imageTopicNameP
	Parameters.
int	infoConnectCount
boost::mutex	lock
	A mutex to lock access to fields that are used in ROS message callbacks.
std::string	mode_
MonoCameraSensor *	myParent
	A pointer to the parent camera sensor.
polled_camera::PublicationServer	poll_srv_
	image_transport
std::string	pollServiceName
ParamT< std::string > *	pollServiceNameP
boost::thread	prosilica_callback_queue_thread_
ros::CallbackQueue	prosilica_queue_
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
	for setting ROS name space
sensor_msgs::CameraInfo *	roiCameraInfoMsg
sensor_msgs::Image *	roiImageMsg
ros::NodeHandle *	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist.
int	skip
std::string	type
int	width

Detailed Description

GazeboRosProsilica Controller.

This is a controller that collects data from a simulated Prosilica camera sensor and makes image data available in the same manner prosilica_camera works. The controller:gazebo_ros_prosilica block must be inside of a sensor:camera block.

Example Usage:

    <sensor:camera name="prosilica_sensor">
      <imageFormat>R8G8B8</imageFormat>
      <imageSize>2448 2050</imageSize>
      <hfov>45</hfov>
      <nearClip>0.1</nearClip>
      <farClip>100</farClip>
      <updateRate>20.0</updateRate>
      <controller:gazebo_ros_prosilica name="prosilica_controller" plugin="libgazebo_ros_prosilica.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>20.0</updateRate>
        <imageTopicName>/prosilica/image_raw</imageTopicName>
        <cameraInfoTopicName>/prosilica/camera_info</cameraInfoTopicName>
        <pollServiceName>/prosilica/request_image</pollServiceName>
        <frameName>prosilica_frame</frameName>
        <CxPrime>1224.5</CxPrime>
        <Cx>1224.5</Cx>
        <Cy>1025.5</Cy>
        <focal_length>2955</focal_length> <!-- image_width / (2*tan(hfov_radian /2)) -->
        <distortion_k1>0.00000001</distortion_k1>
        <distortion_k2>0.00000001</distortion_k2>
        <distortion_k3>0.00000001</distortion_k3>
        <distortion_t1>0.00000001</distortion_t1>
        <distortion_t2>0.00000001</distortion_t2>
        <interface:camera name="prosilica_iface" />
      </controller:gazebo_ros_prosilica>
    </sensor:camera>

Definition at line 134 of file gazebo_ros_prosilica.h.

Constructor & Destructor Documentation

gazebo::GazeboRosProsilica::GazeboRosProsilica ( Entity * parent )

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 65 of file gazebo_ros_prosilica.cpp.

gazebo::GazeboRosProsilica::~GazeboRosProsilica ( ) [virtual]

Destructor.

Definition at line 98 of file gazebo_ros_prosilica.cpp.

Member Function Documentation

void gazebo::GazeboRosProsilica::FiniChild ( ) [protected, virtual]

Finalize the controller, unadvertise topics.

Definition at line 911 of file gazebo_ros_prosilica.cpp.

void gazebo::GazeboRosProsilica::ImageConnect ( ) [private]

Definition at line 286 of file gazebo_ros_prosilica.cpp.

void gazebo::GazeboRosProsilica::ImageDisconnect ( ) [private]

Definition at line 292 of file gazebo_ros_prosilica.cpp.

void gazebo::GazeboRosProsilica::InfoConnect ( ) [private]

Definition at line 302 of file gazebo_ros_prosilica.cpp.

void gazebo::GazeboRosProsilica::InfoDisconnect ( ) [private]

Definition at line 308 of file gazebo_ros_prosilica.cpp.

void gazebo::GazeboRosProsilica::InitChild ( ) [protected, virtual]

Init the controller.

Compute camera parameters if set to 0

Definition at line 212 of file gazebo_ros_prosilica.cpp.

void gazebo::GazeboRosProsilica::LoadChild ( XMLConfigNode * node ) [protected, virtual]

Load the controller.

Parameters:

node

XML config node

@todo: hardcoded per prosilica_camera wiki api, make this an urdf parameter

advertise topics for image and camera info

Definition at line 121 of file gazebo_ros_prosilica.cpp.

static void gazebo::GazeboRosProsilica::mouse_cb	(	int	event,
		int	x,
		int	y,
		int	flags,
		void *	param
	)			`[inline, static, private]`

does nothing for now

Definition at line 157 of file gazebo_ros_prosilica.h.

void gazebo::GazeboRosProsilica::pollCallback	(	polled_camera::GetPolledImage::Request &	req,
		polled_camera::GetPolledImage::Response &	rsp,
		sensor_msgs::Image &	image,
		sensor_msgs::CameraInfo &	info
	)			`[private]`