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gazebo_ros_imu.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: 3D position interface.
 * Author: Sachin Chitta and John Hsu
 * Date: 10 June 2008
 * SVN: $Id$
 */
#ifndef GAZEBO_ROS_IMU_HH
#define GAZEBO_ROS_IMU_HH

#define USE_CBQ
#ifdef USE_CBQ
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>
#endif

#include <gazebo/Controller.hh>
#include <gazebo/Entity.hh>
#include <gazebo/Model.hh>
#include <gazebo/Body.hh>
#include <gazebo/Param.hh>
#include <gazebo/Time.hh>

#include <ros/ros.h>
#include "boost/thread/mutex.hpp"
#include <sensor_msgs/Imu.h>
#include <std_srvs/Empty.h>


namespace gazebo
{

   class GazeboRosIMU : public Controller
   {
      public: GazeboRosIMU(Entity *parent );

      public: virtual ~GazeboRosIMU();

      protected: virtual void LoadChild(XMLConfigNode *node);

      protected: virtual void InitChild();

      protected: virtual void UpdateChild();

      protected: virtual void FiniChild();

      private: Model *myParent;

      private: Body *myBody; //Gazebo/ODE body

      private: ros::NodeHandle* rosnode_;
      private: ros::Publisher pub_;
      private: ros::Publisher deprecated_pub_;

      private: sensor_msgs::Imu imuMsg;

      private: ParamT<std::string> *bodyNameP;
      private: std::string bodyName;

      private: ParamT<std::string> *frameNameP;

      private: ParamT<std::string> *topicNameP;
      private: std::string topicName;
      private: ParamT<std::string> *deprecatedTopicNameP;
      private: std::string deprecatedTopicName;

      private: ParamT<Vector3> *xyzOffsetsP;
      private: Vector3 xyzOffsets;
      private: ParamT<Vector3> *rpyOffsetsP;
      private: Vector3 rpyOffsets;

      private: boost::mutex lock;

      private: Time last_time;
      private: Vector3 last_vpos;
      private: Vector3 last_veul;
      private: Vector3 apos;
      private: Vector3 aeul;
      private: Pose3d initial_pose; // keep initial pose to offset orientation in imu message

      private: ParamT<double> *gaussianNoiseP;
      private: double gaussianNoise;

      private: double GaussianKernel(double mu,double sigma);

      private: ParamT<std::string> *robotNamespaceP;
      private: std::string robotNamespace;

      private: int imuConnectCount;
      private: void IMUConnect();
      private: void IMUDisconnect();
      private: int deprecatedImuConnectCount;
      private: void DeprecatedIMUConnect();
      private: void DeprecatedIMUDisconnect();

      private: bool ServiceCallback(std_srvs::Empty::Request &req,
                                    std_srvs::Empty::Response &res);
      private: ros::ServiceServer srv_;
      private: ParamT<std::string> *serviceNameP;
      private: std::string serviceName;

#ifdef USE_CBQ
      private: ros::CallbackQueue imu_queue_;
      private: void IMUQueueThread();
      private: boost::thread callback_queue_thread_;
#endif
   };




}

#endif

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gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Sat Mar 2 13:39:46 2013