gazebo::GazeboRosTime Class Reference
[ROS time broadcaster.]

ROS Time Controller. More...

#include <gazebo_ros_time.h>

List of all members.

Public Member Functions
	GazeboRosTime (Entity *parent)
	Constructor.
virtual	~GazeboRosTime ()
	Destructor.
Protected Member Functions
virtual void	FiniChild ()
	Finalize the controller.
virtual void	InitChild ()
	Init the controller.
virtual void	LoadChild (XMLConfigNode *node)
	Load the controller.
virtual void	UpdateChild ()
	Update the controller.
Private Attributes
boost::mutex	lock
	A mutex to lock access to fields that are used in message callbacks.
ros::Publisher	pub_
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
	for setting ROS name space
ros::NodeHandle *	rosnode_
	pointer to ros node
rosgraph_msgs::Clock	timeMsg

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Detailed Description

ROS Time Controller.

• Starts a ROS node if none exists
• broadcast simulator time over rosgraph_msgs::Clock.
• Example Usage:

              <model:physical name="robot_model1">
  
                <controller:gazebo_ros_time name="gazebo_ros_time" plugin="libgazebo_ros_time.so">
                  <alwaysOn>true</alwaysOn>
                  <updateRate>1000.0</updateRate>
                </controller:gazebo_ros_time>
  
                <xyz>0.0 0.0 0.02</xyz>
                <rpy>0.0 0.0 0.0 </rpy>
  
                <!-- base, torso and arms -->
                <include embedded="true">
                  <xi:include href="pr2_xml.model" />
                </include>
  
              </model:physical>
            

Definition at line 101 of file gazebo_ros_time.h.

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Constructor & Destructor Documentation

GazeboRosTime::GazeboRosTime

(

Entity *

parent

)

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 50 of file gazebo_ros_time.cpp.

GazeboRosTime::~GazeboRosTime

(

)

[virtual]

Destructor.

Definition at line 60 of file gazebo_ros_time.cpp.

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Member Function Documentation

void GazeboRosTime::FiniChild

(

)

[protected, virtual]

Finalize the controller.

Definition at line 115 of file gazebo_ros_time.cpp.

void GazeboRosTime::InitChild

(

)

[protected, virtual]

Init the controller.

Definition at line 90 of file gazebo_ros_time.cpp.

void GazeboRosTime::LoadChild

(

XMLConfigNode *

node

)

[protected, virtual]

Load the controller.

Parameters:

node

XML config node

Definition at line 68 of file gazebo_ros_time.cpp.

void GazeboRosTime::UpdateChild

(

)

[protected, virtual]

Update the controller.

Definition at line 96 of file gazebo_ros_time.cpp.

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Member Data Documentation

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

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

Definition at line 124 of file gazebo_ros_time.h.

ros::Publisher gazebo::GazeboRosTime::pub_ [private]

Definition at line 128 of file gazebo_ros_time.h.

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

Definition at line 134 of file gazebo_ros_time.h.

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

for setting ROS name space

Definition at line 133 of file gazebo_ros_time.h.

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

pointer to ros node

Definition at line 127 of file gazebo_ros_time.h.

rosgraph_msgs::Clock gazebo::GazeboRosTime::timeMsg [private]

Definition at line 130 of file gazebo_ros_time.h.

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

• gazebo_ros_time.h
• gazebo_ros_time.cpp