gazebo::GazeboRosPowerMonitor Class Reference
[GazeboRosPowerMonitor class]

power_monitor simulation More...

#include <gazebo_ros_power_monitor.h>

List of all members.

Public Member Functions
	GazeboRosPowerMonitor (Entity *parent)
virtual	~GazeboRosPowerMonitor ()
Protected Member Functions
virtual void	FiniChild ()
virtual void	InitChild ()
virtual void	LoadChild (XMLConfigNode *node)
virtual void	UpdateChild ()
Private Member Functions
void	SetPlug (const pr2_gazebo_plugins::PlugCommandConstPtr &plug_msg)
	listen to ROS to see if we are charging
Private Attributes
double	charge_
	charge state (Ah)
double	charge_rate_
	charge rate (W)
ParamT< double > *	charge_rate_param_
	charge rate when plugged in (W)
ParamT< double > *	charge_voltage_param_
	charge voltage when plugged in (V)
double	curr_time_
ParamT< double > *	discharge_rate_param_
	discharge rate when not plugged in (W)
ParamT< double > *	discharge_voltage_param_
	discharge voltage when plugged in (V)
ParamT< double > *	full_capacity_param_
	internal variables for keeping track of simulated battery
double	last_time_
boost::mutex	lock_
	lock access to fields that are used in message callbacks
Model *	model_
ros::Subscriber	plugged_in_sub_
pr2_msgs::PowerState	power_state_
ros::Publisher	power_state_pub_
ParamT< double > *	power_state_rate_param_
	rate to broadcast power state message
ParamT< std::string > *	power_state_topic_param_
ParamT< std::string > *	robot_namespace_param_
ros::NodeHandle *	rosnode_
double	voltage_
	voltage (V)

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Detailed Description

power_monitor simulation

• This plugin simulates the power_monitor node for reporting the state of the power system (battery charge, time remaining, AC present).
• controller:gazebo_ros_power requires a model as its parent.

      <!-- GazeboRosPowerMonitor -->
      <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>1.0</updateRate>
          <timeout>5</timeout>
          <interface:audio name="power_monitor_dummy_interface" />
          <powerStateTopic>power_state</powerStateTopic>
          <powerStateRate>10.0</powerStateRate>
          <fullChargeCapacity>87.78</fullChargeCapacity>
          <dischargeRate>-474</dischargeRate>
          <chargeRate>525</chargeRate>
          <dischargeVoltage>15.52</dischargeVoltage>
          <chargeVoltage>16.41</chargeVoltage>
      </controller:gazebo_ros_power_monitor>
   

Definition at line 101 of file gazebo_ros_power_monitor.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosPowerMonitor::GazeboRosPowerMonitor

(

Entity *

parent

)

Definition at line 43 of file gazebo_ros_power_monitor.cpp.

gazebo::GazeboRosPowerMonitor::~GazeboRosPowerMonitor

(

)

[virtual]

Definition at line 62 of file gazebo_ros_power_monitor.cpp.

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Member Function Documentation

void gazebo::GazeboRosPowerMonitor::FiniChild

(

)

[protected, virtual]

Definition at line 161 of file gazebo_ros_power_monitor.cpp.

void gazebo::GazeboRosPowerMonitor::InitChild

(

)

[protected, virtual]

Definition at line 100 of file gazebo_ros_power_monitor.cpp.

void gazebo::GazeboRosPowerMonitor::LoadChild

(

XMLConfigNode *

node

)

[protected, virtual]

Definition at line 76 of file gazebo_ros_power_monitor.cpp.

void gazebo::GazeboRosPowerMonitor::SetPlug

(

const pr2_gazebo_plugins::PlugCommandConstPtr &

plug_msg

)

[private]

listen to ROS to see if we are charging

Definition at line 167 of file gazebo_ros_power_monitor.cpp.

void gazebo::GazeboRosPowerMonitor::UpdateChild

(

)

[protected, virtual]

Definition at line 114 of file gazebo_ros_power_monitor.cpp.

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Member Data Documentation

double gazebo::GazeboRosPowerMonitor::charge_ [private]

charge state (Ah)

Definition at line 156 of file gazebo_ros_power_monitor.h.

double gazebo::GazeboRosPowerMonitor::charge_rate_ [private]

charge rate (W)

Definition at line 159 of file gazebo_ros_power_monitor.h.

ParamT<double>* gazebo::GazeboRosPowerMonitor::charge_rate_param_ [private]

charge rate when plugged in (W)

Definition at line 144 of file gazebo_ros_power_monitor.h.

ParamT<double>* gazebo::GazeboRosPowerMonitor::charge_voltage_param_ [private]

charge voltage when plugged in (V)

Definition at line 150 of file gazebo_ros_power_monitor.h.

double gazebo::GazeboRosPowerMonitor::curr_time_ [private]

Definition at line 120 of file gazebo_ros_power_monitor.h.

ParamT<double>* gazebo::GazeboRosPowerMonitor::discharge_rate_param_ [private]

discharge rate when not plugged in (W)

Definition at line 147 of file gazebo_ros_power_monitor.h.

ParamT<double>* gazebo::GazeboRosPowerMonitor::discharge_voltage_param_ [private]

discharge voltage when plugged in (V)

Definition at line 153 of file gazebo_ros_power_monitor.h.

ParamT<double>* gazebo::GazeboRosPowerMonitor::full_capacity_param_ [private]

internal variables for keeping track of simulated battery

full capacity of battery (Ah)

Definition at line 141 of file gazebo_ros_power_monitor.h.

double gazebo::GazeboRosPowerMonitor::last_time_ [private]

Definition at line 121 of file gazebo_ros_power_monitor.h.

boost::mutex gazebo::GazeboRosPowerMonitor::lock_ [private]

lock access to fields that are used in message callbacks

Definition at line 131 of file gazebo_ros_power_monitor.h.

Model* gazebo::GazeboRosPowerMonitor::model_ [private]

Definition at line 119 of file gazebo_ros_power_monitor.h.

ros::Subscriber gazebo::GazeboRosPowerMonitor::plugged_in_sub_ [private]

Definition at line 127 of file gazebo_ros_power_monitor.h.

pr2_msgs::PowerState gazebo::GazeboRosPowerMonitor::power_state_ [private]

Definition at line 133 of file gazebo_ros_power_monitor.h.

ros::Publisher gazebo::GazeboRosPowerMonitor::power_state_pub_ [private]

Definition at line 128 of file gazebo_ros_power_monitor.h.

ParamT<double>* gazebo::GazeboRosPowerMonitor::power_state_rate_param_ [private]

rate to broadcast power state message

Definition at line 136 of file gazebo_ros_power_monitor.h.

ParamT<std::string>* gazebo::GazeboRosPowerMonitor::power_state_topic_param_ [private]

Definition at line 124 of file gazebo_ros_power_monitor.h.

ParamT<std::string>* gazebo::GazeboRosPowerMonitor::robot_namespace_param_ [private]

Definition at line 123 of file gazebo_ros_power_monitor.h.

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

Definition at line 126 of file gazebo_ros_power_monitor.h.

double gazebo::GazeboRosPowerMonitor::voltage_ [private]

voltage (V)

Definition at line 162 of file gazebo_ros_power_monitor.h.

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

• gazebo_ros_power_monitor.h
• gazebo_ros_power_monitor.cpp