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

GazeboRosStereoCamera Controller. More...

#include <gazebo_ros_stereo_camera.h>

Public Member Functions
	GazeboRosStereoCamera (Entity *parent)
	Constructor.
const float *	GetDepthData (unsigned int i=0)
	Get a point to the depth data.
virtual	~GazeboRosStereoCamera ()
	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
bool	fillDepthImage (sensor_msgs::PointCloud &point_cloud, uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, void *data_arg)
	helper function fill depth image
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.
Private Attributes
ros::Publisher	camera_info_pub_
sensor_msgs::CameraInfo	cameraInfoMsg
std::string	cameraInfoTopicName
	ROS camera_info topic name.
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 image message.
std::string	imageTopicName
	ROS image topic name.
ParamT< std::string > *	imageTopicNameP
	Parameters.
int	infoConnectCount
	Keep track of number of connctions for CameraInfo.
boost::mutex	lock
	A mutex to lock access to fields that are used in ROS message callbacks.
StereoCameraSensor *	myParent
	A pointer to the parent camera sensor.
ros::Publisher	point_cloud_pub_
int	pointCloudConnectCount
	Keep track of number of connctions for point clouds.
sensor_msgs::PointCloud	pointCloudMsg
	ros message
std::string	pointCloudTopicName
	ROS pointCloud 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

GazeboRosStereoCamera 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>
            <pointCloudTopicName>camera_name/points</pointCloudTopicName>
            <cameraInfoTopicName>camera_name/camera_info</cameraInfoTopicName>
            <frameName>camera_body_name</frameName>
        </controller:gazebo_ros_camera>
      </sensor:camera>
    </body:empty>
  </model:phyiscal>

Definition at line 113 of file gazebo_ros_stereo_camera.h.

Constructor & Destructor Documentation

gazebo::GazeboRosStereoCamera::GazeboRosStereoCamera ( Entity * parent )

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 62 of file gazebo_ros_stereo_camera.cpp.

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

Destructor.

Definition at line 100 of file gazebo_ros_stereo_camera.cpp.

Member Function Documentation

bool gazebo::GazeboRosStereoCamera::fillDepthImage	(	sensor_msgs::PointCloud &	point_cloud,
		uint32_t	rows_arg,
		uint32_t	cols_arg,
		uint32_t	step_arg,
		void *	data_arg
	)			`[private]`