gazebo::GazeboRosControllerManager Class Reference
[GazeboRosControllerMangager class]

#include <gazebo_ros_controller_manager.h>

Public Member Functions
	GazeboRosControllerManager (Entity *parent)
virtual	~GazeboRosControllerManager ()
Protected Member Functions
virtual void	FiniChild ()
virtual void	InitChild ()
virtual void	LoadChild (XMLConfigNode *node)
virtual void	UpdateChild ()
Private Member Functions
void	ControllerManagerROSThread ()
void	ReadPr2Xml (XMLConfigNode *node)
bool	setModelsJointsStates (pr2_gazebo_plugins::SetModelsJointsStates::Request &req, pr2_gazebo_plugins::SetModelsJointsStates::Response &res)
	ros service callback
Private Attributes
pr2_controller_manager::ControllerManager *	cm_
bool	fake_calibration_
pr2_mechanism_model::RobotState *	fake_state_
pr2_hardware_interface::HardwareInterface	hw_
std::vector< gazebo::Joint * >	joints_
Model *	parent_model_
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
std::string	robotParam
ParamT< std::string > *	robotParamP
	set topic name of robot description parameter
boost::thread	ros_spinner_thread_
ros::NodeHandle *	rosnode_
ros::ServiceServer	setModelsJointsStatesService
	ros service
std::string	setModelsJointsStatesServiceName
ParamT< std::string > *	setModelsJointsStatesServiceNameP
	Service Call Name.
double	sim_start_
double	wall_start_
	ros service callback

Detailed Description

This is a controller plugin that provides interface between simulated robot and pr2_controller_manager. controller:gazebo_ros_controller_manager XML extension requires a model as its parent. Please see pr2_description for example usages in the pr2_simulator.

Gazebo simulator provides joint force/torque control for simulated joints and links. This plugin exposes a set of pseudo-actuator states to pr2_controller_manager through ros by the use of inverse transmissions as defined in pr2_mechanism_controllers.

Example Usage:

    <!-- GazeboRosControllerMangager -->
    <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1000.0</updateRate>
      <robotParam>robot_description</robotParam>
      <robotNamespace>/</robotNamespace>
    </controller:gazebo_ros_controller_manager>

Definition at line 104 of file gazebo_ros_controller_manager.h.

Constructor & Destructor Documentation

gazebo::GazeboRosControllerManager::GazeboRosControllerManager ( Entity * parent )

Definition at line 59 of file gazebo_ros_controller_manager.cpp.

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

Definition at line 102 of file gazebo_ros_controller_manager.cpp.

Member Function Documentation

void gazebo::GazeboRosControllerManager::ControllerManagerROSThread ( ) [private]

Definition at line 499 of file gazebo_ros_controller_manager.cpp.

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

Definition at line 396 of file gazebo_ros_controller_manager.cpp.

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

Definition at line 174 of file gazebo_ros_controller_manager.cpp.

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

Definition at line 117 of file gazebo_ros_controller_manager.cpp.

void gazebo::GazeboRosControllerManager::ReadPr2Xml ( XMLConfigNode * node ) [private]

Definition at line 413 of file gazebo_ros_controller_manager.cpp.

bool gazebo::GazeboRosControllerManager::setModelsJointsStates	(	pr2_gazebo_plugins::SetModelsJointsStates::Request &	req,
		pr2_gazebo_plugins::SetModelsJointsStates::Response &	res
	)			`[private]`

ros service callback

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

FIXME: if damping is greater than this value, do some unconventional smoothing to prevent instability due to safety controller

Definition at line 191 of file gazebo_ros_controller_manager.cpp.

Member Data Documentation

pr2_controller_manager::ControllerManager* gazebo::GazeboRosControllerManager::cm_ [private]

Definition at line 121 of file gazebo_ros_controller_manager.h.

bool gazebo::GazeboRosControllerManager::fake_calibration_ [private]

Definition at line 162 of file gazebo_ros_controller_manager.h.

pr2_mechanism_model::RobotState* gazebo::GazeboRosControllerManager::fake_state_ [private]

Todo:: The fake state helps Gazebo run the transmissions backwards, so that it can figure out what its joints should do based on the actuator values.

Definition at line 126 of file gazebo_ros_controller_manager.h.

pr2_hardware_interface::HardwareInterface gazebo::GazeboRosControllerManager::hw_ [private]

Definition at line 120 of file gazebo_ros_controller_manager.h.

std::vector<gazebo::Joint*> gazebo::GazeboRosControllerManager::joints_ [private]

Definition at line 127 of file gazebo_ros_controller_manager.h.

Model* gazebo::GazeboRosControllerManager::parent_model_ [private]

Definition at line 119 of file gazebo_ros_controller_manager.h.

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

Definition at line 160 of file gazebo_ros_controller_manager.h.

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

Definition at line 158 of file gazebo_ros_controller_manager.h.

std::string gazebo::GazeboRosControllerManager::robotParam [private]