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

GazeboRosOpenniKinect Controller. More...

#include <gazebo_ros_openni_kinect.h>

Public Member Functions
	GazeboRosOpenniKinect (Entity *parent)
	Constructor.
virtual	~GazeboRosOpenniKinect ()
	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.
Protected Attributes
ros::Publisher	depth_image_camera_info_pub_
Private Member Functions
void	CameraQueueThread ()
void	configCallback (gazebo_plugins::GazeboRosOpenniKinectConfig &config, uint32_t level)
void	convertImageFormat (unsigned char dst, const unsigned char src)
void	DepthImageConnect ()
void	DepthImageDisconnect ()
void	DepthInfoConnect ()
void	DepthInfoDisconnect ()
bool	FillDepthImageHelper (sensor_msgs::Image &image_msg, uint32_t height, uint32_t width, uint32_t step, void *data_arg)
bool	FillPointCloudHelper (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 (ros::Publisher camera_info_publisher)
	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
boost::thread	callback_queue_thread_
ros::Publisher	camera_info_pub_
ros::CallbackQueue	camera_queue_
ros::Subscriber	cameraHFOVSubscriber_
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
sensor_msgs::Image	depth_image_msg_
	depth image
ros::Publisher	depth_image_pub_
std::string	depthImageCameraInfoTopicName
ParamT< std::string > *	depthImageCameraInfoTopicNameP
int	depthImageConnectCount
	Keep track of number of connctions for point clouds.
std::string	depthImageTopicName
ParamT< std::string > *	depthImageTopicNameP
int	depthInfoConnectCount
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::GazeboRosOpenniKinectConfig > *	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

GazeboRosOpenniKinect 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 108 of file gazebo_ros_openni_kinect.h.

Constructor & Destructor Documentation

gazebo::GazeboRosOpenniKinect::GazeboRosOpenniKinect ( Entity * parent )

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 65 of file gazebo_ros_openni_kinect.cpp.

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

Destructor.

Definition at line 119 of file gazebo_ros_openni_kinect.cpp.

Member Function Documentation

void gazebo::GazeboRosOpenniKinect::CameraQueueThread ( ) [private]

Definition at line 873 of file gazebo_ros_openni_kinect.cpp.

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

Definition at line 110 of file gazebo_ros_openni_kinect.cpp.

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

Definition at line 642 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthImageConnect ( ) [private]

Definition at line 345 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthImageDisconnect ( ) [private]

Definition at line 353 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthInfoConnect ( ) [private]

Definition at line 275 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthInfoDisconnect ( ) [private]

Definition at line 281 of file gazebo_ros_openni_kinect.cpp.

bool gazebo::GazeboRosOpenniKinect::FillDepthImageHelper	(	sensor_msgs::Image &	image_msg,
		uint32_t	height,
		uint32_t	width,
		uint32_t	step,
		void *	data_arg
	)			`[private]`

Definition at line 601 of file gazebo_ros_openni_kinect.cpp.

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

Definition at line 750 of file gazebo_ros_openni_kinect.cpp.

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

Finalize the controller, unadvertise topics.

Definition at line 473 of file gazebo_ros_openni_kinect.cpp.

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

Definition at line 302 of file gazebo_ros_openni_kinect.cpp.

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

Definition at line 309 of file gazebo_ros_openni_kinect.cpp.

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

Definition at line 262 of file gazebo_ros_openni_kinect.cpp.

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

Definition at line 268 of file gazebo_ros_openni_kinect.cpp.

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

Init the controller.

Compute camera parameters if set to 0

Definition at line 367 of file gazebo_ros_openni_kinect.cpp.

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

Load the controller.

Parameters:

node

XML config node

Definition at line 146 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::PointCloudConnect ( ) [private]

Definition at line 323 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::PointCloudDisconnect ( ) [private]

Definition at line 331 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::PublishCameraInfo ( ros::Publisher camera_info_publisher ) [private]

Publish CameraInfo to the ROS topic.

Definition at line 811 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::PutCameraData ( ) [private]

Put camera data to the ROS topic.

Todo:: : don't bother if there are no subscribers

copy from depth to pointCloudMsg

copy from depth to depth image message

Definition at line 487 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::SetHFOV ( const std_msgs::Float64::ConstPtr & hfov ) [private]

Definition at line 288 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::SetUpdateRate ( const std_msgs::Float64::ConstPtr & update_rate ) [private]

Definition at line 295 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::UpdateChild ( ) [protected, virtual]

Update the controller.

publish CameraInfo

Definition at line 450 of file gazebo_ros_openni_kinect.cpp.

Member Data Documentation

boost::thread gazebo::GazeboRosOpenniKinect::callback_queue_thread_ [private]

Definition at line 267 of file gazebo_ros_openni_kinect.h.

ros::Publisher gazebo::GazeboRosOpenniKinect::camera_info_pub_ [private]

Definition at line 175 of file gazebo_ros_openni_kinect.h.

ros::CallbackQueue gazebo::GazeboRosOpenniKinect::camera_queue_ [private]

Definition at line 265 of file gazebo_ros_openni_kinect.h.

ros::Subscriber gazebo::GazeboRosOpenniKinect::cameraHFOVSubscriber_ [private]

Definition at line 251 of file gazebo_ros_openni_kinect.h.

std::string gazebo::GazeboRosOpenniKinect::cameraInfoTopicName [private]

ROS camera_info topic name.

Definition at line 224 of file gazebo_ros_openni_kinect.h.

ParamT<std::string>* gazebo::GazeboRosOpenniKinect::cameraInfoTopicNameP [private]

Definition at line 194 of file gazebo_ros_openni_kinect.h.

std::string gazebo::GazeboRosOpenniKinect::cameraName [private]

ROS camera name.

Definition at line 220 of file gazebo_ros_openni_kinect.h.

ParamT<std::string>* gazebo::GazeboRosOpenniKinect::cameraNameP [private]

Definition at line 198 of file gazebo_ros_openni_kinect.h.

ros::Subscriber gazebo::GazeboRosOpenniKinect::cameraUpdateRateSubscriber_ [private]

Definition at line 252 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::Cx [private]

Definition at line 232 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::CxP [private]

Definition at line 204 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::CxPrime [private]

Definition at line 231 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::CxPrimeP [private]

Definition at line 203 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::Cy [private]

Definition at line 233 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::CyP [private]

Definition at line 205 of file gazebo_ros_openni_kinect.h.

int gazebo::GazeboRosOpenniKinect::depth [private]

Definition at line 247 of file gazebo_ros_openni_kinect.h.

ros::Publisher gazebo::GazeboRosOpenniKinect::depth_image_camera_info_pub_ [protected]

Definition at line 183 of file gazebo_ros_openni_kinect.h.

sensor_msgs::Image gazebo::GazeboRosOpenniKinect::depth_image_msg_ [private]

depth image

Definition at line 190 of file gazebo_ros_openni_kinect.h.

ros::Publisher gazebo::GazeboRosOpenniKinect::depth_image_pub_ [private]

Definition at line 176 of file gazebo_ros_openni_kinect.h.

std::string gazebo::GazeboRosOpenniKinect::depthImageCameraInfoTopicName [private]

Definition at line 201 of file gazebo_ros_openni_kinect.h.

ParamT<std::string>* gazebo::GazeboRosOpenniKinect::depthImageCameraInfoTopicNameP [private]

Definition at line 195 of file gazebo_ros_openni_kinect.h.

int gazebo::GazeboRosOpenniKinect::depthImageConnectCount [private]

Keep track of number of connctions for point clouds.

Definition at line 146 of file gazebo_ros_openni_kinect.h.

std::string gazebo::GazeboRosOpenniKinect::depthImageTopicName [private]

Definition at line 200 of file gazebo_ros_openni_kinect.h.

ParamT<std::string>* gazebo::GazeboRosOpenniKinect::depthImageTopicNameP [private]

Definition at line 197 of file gazebo_ros_openni_kinect.h.

int gazebo::GazeboRosOpenniKinect::depthInfoConnectCount [private]

Definition at line 180 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::distortion_k1 [private]

Definition at line 237 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::distortion_k1P [private]

Definition at line 209 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::distortion_k2 [private]

Definition at line 238 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::distortion_k2P [private]

Definition at line 210 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::distortion_k3 [private]

Definition at line 239 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::distortion_k3P [private]

Definition at line 211 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::distortion_t1 [private]

Definition at line 240 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::distortion_t1P [private]

Definition at line 212 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::distortion_t2 [private]

Definition at line 241 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::distortion_t2P [private]

Definition at line 213 of file gazebo_ros_openni_kinect.h.

dynamic_reconfigure::Server<gazebo_plugins::GazeboRosOpenniKinectConfig>* gazebo::GazeboRosOpenniKinect::dyn_srv_ [private]

Definition at line 258 of file gazebo_ros_openni_kinect.h.

std::string gazebo::GazeboRosOpenniKinect::dynamicReconfigureName [private]

Definition at line 263 of file gazebo_ros_openni_kinect.h.

gazebo::GazeboRosOpenniKinect::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 269 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::focal_length [private]

Definition at line 234 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::focal_lengthP [private]

Definition at line 206 of file gazebo_ros_openni_kinect.h.

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

ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached.

Definition at line 229 of file gazebo_ros_openni_kinect.h.

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

Definition at line 199 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::hack_baseline [private]

Definition at line 235 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::hack_baselineP [private]

Definition at line 207 of file gazebo_ros_openni_kinect.h.

int gazebo::GazeboRosOpenniKinect::height [private]

size of image buffer

Definition at line 247 of file gazebo_ros_openni_kinect.h.

image_transport::Publisher gazebo::GazeboRosOpenniKinect::image_pub_ [private]

Definition at line 177 of file gazebo_ros_openni_kinect.h.

int gazebo::GazeboRosOpenniKinect::imageConnectCount [private]

Keep track of number of connctions.

Definition at line 136 of file gazebo_ros_openni_kinect.h.

sensor_msgs::Image gazebo::GazeboRosOpenniKinect::imageMsg [private]

ROS image message.

Definition at line 186 of file gazebo_ros_openni_kinect.h.

std::string gazebo::GazeboRosOpenniKinect::imageTopicName [private]

ROS image topic name.

Definition at line 222 of file gazebo_ros_openni_kinect.h.

ParamT<std::string>* gazebo::GazeboRosOpenniKinect::imageTopicNameP [private]

Parameters.

Definition at line 193 of file gazebo_ros_openni_kinect.h.

int gazebo::GazeboRosOpenniKinect::infoConnectCount [private]

Keep track of number of connctions for CameraInfo.

Definition at line 151 of file gazebo_ros_openni_kinect.h.

image_transport::ImageTransport* gazebo::GazeboRosOpenniKinect::itnode_ [private]

Definition at line 178 of file gazebo_ros_openni_kinect.h.

Time gazebo::GazeboRosOpenniKinect::last_camera_info_pub_time_ [private]

Definition at line 255 of file gazebo_ros_openni_kinect.h.

Time gazebo::GazeboRosOpenniKinect::last_image_pub_time_ [private]

Definition at line 255 of file gazebo_ros_openni_kinect.h.

Time gazebo::GazeboRosOpenniKinect::last_point_cloud_pub_time_ [private]

Definition at line 255 of file gazebo_ros_openni_kinect.h.

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

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

Definition at line 244 of file gazebo_ros_openni_kinect.h.

nodelet::Loader* gazebo::GazeboRosOpenniKinect::manager_ [private]

Definition at line 174 of file gazebo_ros_openni_kinect.h.

ros::NodeHandle* gazebo::GazeboRosOpenniKinect::managernode_ [private]

Definition at line 173 of file gazebo_ros_openni_kinect.h.

MonoCameraSensor* gazebo::GazeboRosOpenniKinect::myParent [private]

A pointer to the parent camera sensor.

Definition at line 169 of file gazebo_ros_openni_kinect.h.

ros::Publisher gazebo::GazeboRosOpenniKinect::point_cloud_pub_ [private]

Definition at line 175 of file gazebo_ros_openni_kinect.h.

int gazebo::GazeboRosOpenniKinect::pointCloudConnectCount [private]

Keep track of number of connctions for point clouds.

Definition at line 141 of file gazebo_ros_openni_kinect.h.

double gazebo::GazeboRosOpenniKinect::pointCloudCutoff [private]

Definition at line 236 of file gazebo_ros_openni_kinect.h.

ParamT<double>* gazebo::GazeboRosOpenniKinect::pointCloudCutoffP [private]

Definition at line 208 of file gazebo_ros_openni_kinect.h.

pcl::PointCloud<pcl::PointXYZ> gazebo::GazeboRosOpenniKinect::pointCloudMsg [private]

Definition at line 187 of file gazebo_ros_openni_kinect.h.

std::string gazebo::GazeboRosOpenniKinect::pointCloudTopicName [private]

ROS point cloud topic name.

Definition at line 226 of file gazebo_ros_openni_kinect.h.

ParamT<std::string>* gazebo::GazeboRosOpenniKinect::pointCloudTopicNameP [private]

Definition at line 196 of file gazebo_ros_openni_kinect.h.

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

Definition at line 217 of file gazebo_ros_openni_kinect.h.

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

for setting ROS name space

Definition at line 216 of file gazebo_ros_openni_kinect.h.

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

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 172 of file gazebo_ros_openni_kinect.h.

int gazebo::GazeboRosOpenniKinect::skip [private]

Definition at line 249 of file gazebo_ros_openni_kinect.h.

std::string gazebo::GazeboRosOpenniKinect::type [private]

Definition at line 248 of file gazebo_ros_openni_kinect.h.

int gazebo::GazeboRosOpenniKinect::width [private]

Definition at line 247 of file gazebo_ros_openni_kinect.h.

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

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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