Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
gazebo::GazeboRosLaser Class Reference

#include <gazebo_ros_laser.h>

List of all members.

Public Member Functions

 GazeboRosLaser ()
 Constructor.
void Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
 Load the plugin.
 ~GazeboRosLaser ()
 Destructor.

Protected Member Functions

virtual void OnNewLaserScans ()
 Update the controller.

Private Member Functions

double GaussianKernel (double mu, double sigma)
 Gaussian noise generator.
void LaserConnect ()
void LaserDisconnect ()
void LaserQueueThread ()
void PutLaserData (common::Time &_updateTime)
 Put laser data to the ROS topic.

Private Attributes

boost::thread callback_queue_thread_
std::string frame_name_
 frame transform name, should match link name
double gaussian_noise_
 Gaussian noise.
double hokuyo_min_intensity_
 hack to mimic hokuyo intensity cutoff of 100
int laser_connect_count_
 Keep track of number of connctions.
sensor_msgs::LaserScan laser_msg_
 ros message
ros::CallbackQueue laser_queue_
common::Time last_update_time_
boost::mutex lock_
 A mutex to lock access to fields that are used in message callbacks.
sensors::RaySensorPtr parent_ray_sensor_
sensors::SensorPtr parent_sensor_
 The parent sensor.
ros::Publisher pub_
std::string robot_namespace_
 for setting ROS name space
ros::NodeHandlerosnode_
 pointer to ros node
std::string topic_name_
 topic name
double update_period_
double update_rate_
 update rate of this sensor
physics::WorldPtr world_

Detailed Description

Definition at line 53 of file gazebo_ros_laser.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 48 of file gazebo_ros_laser.cpp.

Destructor.

Definition at line 54 of file gazebo_ros_laser.cpp.


Member Function Documentation

double gazebo::GazeboRosLaser::GaussianKernel ( double  mu,
double  sigma 
) [private]

Gaussian noise generator.

Definition at line 301 of file gazebo_ros_laser.cpp.

Definition at line 179 of file gazebo_ros_laser.cpp.

Definition at line 186 of file gazebo_ros_laser.cpp.

Definition at line 317 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::Load ( sensors::SensorPtr  _parent,
sdf::ElementPtr  _sdf 
)

Load the plugin.

Parameters:
takein SDF root element

Definition at line 66 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::OnNewLaserScans ( ) [protected, virtual]

Update the controller.

Definition at line 197 of file gazebo_ros_laser.cpp.

void gazebo::GazeboRosLaser::PutLaserData ( common::Time &  _updateTime) [private]

Put laser data to the ROS topic.

Definition at line 217 of file gazebo_ros_laser.cpp.


Member Data Documentation

Definition at line 120 of file gazebo_ros_laser.h.

std::string gazebo::GazeboRosLaser::frame_name_ [private]

frame transform name, should match link name

Definition at line 94 of file gazebo_ros_laser.h.

Gaussian noise.

Definition at line 97 of file gazebo_ros_laser.h.

hack to mimic hokuyo intensity cutoff of 100

Definition at line 108 of file gazebo_ros_laser.h.

Keep track of number of connctions.

Definition at line 72 of file gazebo_ros_laser.h.

sensor_msgs::LaserScan gazebo::GazeboRosLaser::laser_msg_ [private]

ros message

Definition at line 87 of file gazebo_ros_laser.h.

Definition at line 118 of file gazebo_ros_laser.h.

Definition at line 113 of file gazebo_ros_laser.h.

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

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

Definition at line 104 of file gazebo_ros_laser.h.

sensors::RaySensorPtr gazebo::GazeboRosLaser::parent_ray_sensor_ [private]

Definition at line 80 of file gazebo_ros_laser.h.

sensors::SensorPtr gazebo::GazeboRosLaser::parent_sensor_ [private]

The parent sensor.

Definition at line 79 of file gazebo_ros_laser.h.

Definition at line 84 of file gazebo_ros_laser.h.

for setting ROS name space

Definition at line 116 of file gazebo_ros_laser.h.

pointer to ros node

Definition at line 83 of file gazebo_ros_laser.h.

std::string gazebo::GazeboRosLaser::topic_name_ [private]

topic name

Definition at line 90 of file gazebo_ros_laser.h.

Definition at line 112 of file gazebo_ros_laser.h.

update rate of this sensor

Definition at line 111 of file gazebo_ros_laser.h.

physics::WorldPtr gazebo::GazeboRosLaser::world_ [private]

Definition at line 77 of file gazebo_ros_laser.h.


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


gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Sun Jan 5 2014 11:34:58