gazebo::GazeboRosKurt Class Reference

#include <gazebo_ros_kurt.h>

List of all members.

Public Member Functions
virtual void	FiniChild ()
	GazeboRosKurt (gazebo::Entity *parent)
virtual void	InitChild ()
virtual void	LoadChild (XMLConfigNode *node)
virtual void	UpdateChild ()
virtual	~GazeboRosKurt ()
Private Member Functions
void	OnCmdVel (const geometry_msgs::TwistConstPtr &msg)
Private Attributes
ros::Subscriber	cmd_vel_sub_
std::string	cmd_vel_topic_name_
ParamT< std::string > *	cmd_vel_topic_nameP_
std::vector< ParamT < std::string > * >	joint_nameP_
ros::Publisher	joint_state_pub_
std::string	joint_states_topic_name_
ParamT< std::string > *	joint_states_topic_nameP_
Joint *	joints_ [NUM_JOINTS]
sensor_msgs::JointState	js_
Time	last_cmd_vel_time_
ParamT< float > *	max_velocityP_
	maximum forward speed of Kurt [m/s]
Model *	my_parent_
float	odom_pose_ [3]
ros::Publisher	odom_pub_
std::string	odom_topic_name_
ParamT< std::string > *	odom_topic_nameP_
float	odom_vel_ [3]
Time	prev_update_time_
ParamT< std::string > *	robotNamespaceP_
ros::NodeHandle *	rosnode_
ParamT< float > *	torqueP_
	maximum torque applied to the wheels [Nm]
tf::TransformBroadcaster	transform_broadcaster_
ParamT< float > *	turning_adaptationP_
	Turning adaptation for odometry.
ParamT< float > *	wheel_diamP_
	Diameter of the wheels.
ParamT< float > *	wheel_sepP_
	Separation between the wheels.
float	wheel_speed_left_
float	wheel_speed_right_
	Desired speeds of the wheels.
Static Private Attributes
static const double	CMD_VEL_TIMEOUT = 0.6
static const size_t	NUM_JOINTS = 6

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Detailed Description

Definition at line 17 of file gazebo_ros_kurt.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosKurt::GazeboRosKurt

(

gazebo::Entity *

parent

)

GazeboRosKurt::~GazeboRosKurt

(

)

[virtual]

Definition at line 57 of file gazebo_ros_kurt.cpp.

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Member Function Documentation

void GazeboRosKurt::FiniChild

(

)

[virtual]

Definition at line 127 of file gazebo_ros_kurt.cpp.

void GazeboRosKurt::InitChild

(

)

[virtual]

Definition at line 123 of file gazebo_ros_kurt.cpp.

void GazeboRosKurt::LoadChild

(

XMLConfigNode *

node

)

[virtual]

Definition at line 77 of file gazebo_ros_kurt.cpp.

void GazeboRosKurt::OnCmdVel

(

const geometry_msgs::TwistConstPtr &

msg

)

[private]

Definition at line 236 of file gazebo_ros_kurt.cpp.

void GazeboRosKurt::UpdateChild

(

)

[virtual]

Definition at line 132 of file gazebo_ros_kurt.cpp.

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Member Data Documentation

ros::Subscriber gazebo::GazeboRosKurt::cmd_vel_sub_ [private]

Definition at line 39 of file gazebo_ros_kurt.h.

const double gazebo::GazeboRosKurt::CMD_VEL_TIMEOUT = 0.6 [static, private]

Definition at line 30 of file gazebo_ros_kurt.h.

std::string gazebo::GazeboRosKurt::cmd_vel_topic_name_ [private]

Definition at line 44 of file gazebo_ros_kurt.h.

ParamT<std::string>* gazebo::GazeboRosKurt::cmd_vel_topic_nameP_ [private]

Definition at line 43 of file gazebo_ros_kurt.h.

std::vector<ParamT<std::string> *> gazebo::GazeboRosKurt::joint_nameP_ [private]

Definition at line 50 of file gazebo_ros_kurt.h.

ros::Publisher gazebo::GazeboRosKurt::joint_state_pub_ [private]

Definition at line 37 of file gazebo_ros_kurt.h.

std::string gazebo::GazeboRosKurt::joint_states_topic_name_ [private]

Definition at line 48 of file gazebo_ros_kurt.h.

ParamT<std::string>* gazebo::GazeboRosKurt::joint_states_topic_nameP_ [private]

Definition at line 47 of file gazebo_ros_kurt.h.

Joint* gazebo::GazeboRosKurt::joints_[NUM_JOINTS] [private]

Definition at line 73 of file gazebo_ros_kurt.h.

sensor_msgs::JointState gazebo::GazeboRosKurt::js_ [private]

Definition at line 85 of file gazebo_ros_kurt.h.

Time gazebo::GazeboRosKurt::last_cmd_vel_time_ [private]

Definition at line 79 of file gazebo_ros_kurt.h.

ParamT<float>* gazebo::GazeboRosKurt::max_velocityP_ [private]

maximum forward speed of Kurt [m/s]

Definition at line 65 of file gazebo_ros_kurt.h.

Model* gazebo::GazeboRosKurt::my_parent_ [private]

Definition at line 67 of file gazebo_ros_kurt.h.

const size_t gazebo::GazeboRosKurt::NUM_JOINTS = 6 [static, private]

Definition at line 29 of file gazebo_ros_kurt.h.

float gazebo::GazeboRosKurt::odom_pose_[3] [private]

Definition at line 81 of file gazebo_ros_kurt.h.

ros::Publisher gazebo::GazeboRosKurt::odom_pub_ [private]

Definition at line 36 of file gazebo_ros_kurt.h.

std::string gazebo::GazeboRosKurt::odom_topic_name_ [private]

Definition at line 46 of file gazebo_ros_kurt.h.

ParamT<std::string>* gazebo::GazeboRosKurt::odom_topic_nameP_ [private]

Definition at line 45 of file gazebo_ros_kurt.h.

float gazebo::GazeboRosKurt::odom_vel_[3] [private]

Definition at line 82 of file gazebo_ros_kurt.h.

Time gazebo::GazeboRosKurt::prev_update_time_ [private]

Definition at line 76 of file gazebo_ros_kurt.h.

ParamT<std::string>* gazebo::GazeboRosKurt::robotNamespaceP_ [private]

Definition at line 41 of file gazebo_ros_kurt.h.

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

Definition at line 34 of file gazebo_ros_kurt.h.

ParamT<float>* gazebo::GazeboRosKurt::torqueP_ [private]

maximum torque applied to the wheels [Nm]

Definition at line 62 of file gazebo_ros_kurt.h.

tf::TransformBroadcaster gazebo::GazeboRosKurt::transform_broadcaster_ [private]

Definition at line 84 of file gazebo_ros_kurt.h.

ParamT<float>* gazebo::GazeboRosKurt::turning_adaptationP_ [private]

Turning adaptation for odometry.

Definition at line 59 of file gazebo_ros_kurt.h.

ParamT<float>* gazebo::GazeboRosKurt::wheel_diamP_ [private]

Diameter of the wheels.

Definition at line 56 of file gazebo_ros_kurt.h.

ParamT<float>* gazebo::GazeboRosKurt::wheel_sepP_ [private]

Separation between the wheels.

Definition at line 53 of file gazebo_ros_kurt.h.

float gazebo::GazeboRosKurt::wheel_speed_left_ [private]

Definition at line 71 of file gazebo_ros_kurt.h.

float gazebo::GazeboRosKurt::wheel_speed_right_ [private]

Desired speeds of the wheels.

Definition at line 70 of file gazebo_ros_kurt.h.

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

• gazebo_ros_kurt.h
• gazebo_ros_kurt.cpp