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

#include <gazebo_ros_camera.h>

Public Member Functions
	GazeboRosCamera (Entity *parent)
	Constructor.
virtual	~GazeboRosCamera ()
	Destructor.
Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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	configCallback (gazebo_plugins::GazeboRosCameraConfig &config, uint32_t level)
void	convertImageFormat (unsigned char dst, const unsigned char src)
bool	fillDepthImage (pcl::PointCloud< pcl::PointXYZ > &point_cloud, uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, void *data_arg)
void	ImageConnect ()
void	ImageDisconnect ()
void	InfoConnect ()
void	InfoDisconnect ()
void	PointCloudConnect ()
void	PointCloudDisconnect ()
void	PublishCameraInfo ()
	Publish CameraInfo to the ROS topic.
void	PutCameraData ()
	Put camera data to the ROS topic.
void	SetHFOV (const std_msgs::Float64::ConstPtr &hfov)
void	SetUpdateRate (const std_msgs::Float64::ConstPtr &update_rate)
Private Attributes
ros::Publisher	camera_info_pub_
ros::Subscriber	cameraHFOVSubscriber_
sensor_msgs::CameraInfo	cameraInfoMsg
std::string	cameraInfoTopicName
	ROS camera_info topic name.
ParamT< std::string > *	cameraInfoTopicNameP
std::string	cameraName
	ROS camera name.
ParamT< std::string > *	cameraNameP
ros::Subscriber	cameraUpdateRateSubscriber_
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
dynamic_reconfigure::Server < gazebo_plugins::GazeboRosCameraConfig > *	dyn_srv_
std::string	dynamicReconfigureName
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
image_transport::Publisher	image_pub_
int	imageConnectCount
	Keep track of number of connctions.
sensor_msgs::Image	imageMsg
	ROS image message.
std::string	imageTopicName
	ROS image topic name.
ParamT< std::string > *	imageTopicNameP
	Parameters.
int	infoConnectCount
	Keep track of number of connctions for CameraInfo.
image_transport::ImageTransport *	itnode_
Time	last_camera_info_pub_time_
Time	last_image_pub_time_
Time	last_point_cloud_pub_time_
boost::mutex	lock
	A mutex to lock access to fields that are used in ROS message callbacks.
nodelet::Loader *	manager_
ros::NodeHandle *	managernode_
MonoCameraSensor *	myParent
	A pointer to the parent camera sensor.
ros::Publisher	point_cloud_pub_
int	pointCloudConnectCount
	Keep track of number of connctions for point clouds.
double	pointCloudCutoff
ParamT< double > *	pointCloudCutoffP
pcl::PointCloud< pcl::PointXYZ >	pointCloudMsg
std::string	pointCloudTopicName
	ROS point cloud topic name.
ParamT< std::string > *	pointCloudTopicNameP
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
	for setting ROS name space
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

GazeboRosCamera Controller.

Starts a ROS node if none exists.
Simulates a generic camera and broadcast sensor_msgs::Image sensor_msgs::CameraInfo topic over ROS.

Example Usage:

  <model:physical name="camera_model">
    <body:empty name="camera_body_name">
      <sensor:camera name="camera_sensor">
        <controller:gazebo_ros_camera name="controller-name" plugin="libgazebo_ros_camera.so">
            <alwaysOn>true</alwaysOn>
            <updateRate>15.0</updateRate>
            <imageTopicName>camera_name/image_raw</imageTopicName>
            <cameraInfoTopicName>camera_name/camera_info</cameraInfoTopicName>
            <frameName>camera_body_name</frameName>
        </controller:gazebo_ros_camera>
      </sensor:camera>
    </body:empty>
  </model:phyiscal>

Definition at line 112 of file gazebo_ros_camera.h.

Constructor & Destructor Documentation

gazebo::GazeboRosCamera::GazeboRosCamera ( Entity * parent )

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 65 of file gazebo_ros_camera.cpp.

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

Destructor.

Definition at line 115 of file gazebo_ros_camera.cpp.

Member Function Documentation

void gazebo::GazeboRosCamera::configCallback	(	gazebo_plugins::GazeboRosCameraConfig &	config,
		uint32_t	level
	)			`[private]`

Definition at line 106 of file gazebo_ros_camera.cpp.

void gazebo::GazeboRosCamera::convertImageFormat	(	unsigned char *	dst,
		const unsigned char *	src
	)			`[private]`

Definition at line 542 of file gazebo_ros_camera.cpp.

bool gazebo::GazeboRosCamera::fillDepthImage	(	pcl::PointCloud< pcl::PointXYZ > &	point_cloud,
		uint32_t	rows_arg,
		uint32_t	cols_arg,
		uint32_t	step_arg,
		void *	data_arg
	)			`[private]`