gazebo_ros_block_laser.h
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00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /*
00022  * Desc: ros laser controller.
00023  * Author: Nathan Koenig
00024  * Date: 01 Feb 2007
00025  * SVN: $Id: gazebo_ros_block_laser.hh 6656 2008-06-20 22:52:19Z natepak $
00026  */
00027 
00028 #ifndef GAZEBO_ROS_BLOCK_LASER_HH
00029 #define GAZEBO_ROS_BLOCK_LASER_HH
00030 
00031 // Custom Callback Queue
00032 #include <ros/ros.h>
00033 #include <ros/callback_queue.h>
00034 #include <ros/advertise_options.h>
00035 
00036 #include "sdf/interface/Param.hh"
00037 #include "physics/physics.h"
00038 #include "transport/TransportTypes.hh"
00039 #include "msgs/MessageTypes.hh"
00040 #include "common/Time.hh"
00041 #include "common/Plugin.hh"
00042 #include "sensors/SensorTypes.hh"
00043 #include "plugins/RayPlugin.hh"
00044 
00045 #include <boost/bind.hpp>
00046 #include <boost/thread.hpp>
00047 #include <boost/thread/mutex.hpp>
00048 
00049 #include <sensor_msgs/PointCloud.h>
00050 
00051 namespace gazebo
00052 {
00053 
00054   class GazeboRosBlockLaser : public RayPlugin
00055   {
00058     public: GazeboRosBlockLaser();
00059 
00061     public: ~GazeboRosBlockLaser();
00062 
00065     public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
00066 
00068     protected: virtual void OnNewLaserScans();
00069 
00071     private: void PutLaserData(common::Time &_updateTime);
00072 
00073     private: common::Time last_update_time_;
00074 
00076     private: int laser_connect_count_;
00077     private: void LaserConnect();
00078     private: void LaserDisconnect();
00079 
00080     // Pointer to the model
00081     private: physics::WorldPtr world_;
00083     private: sensors::SensorPtr parent_sensor_;
00084     private: sensors::RaySensorPtr parent_ray_sensor_;
00085 
00087     private: ros::NodeHandle* rosnode_;
00088     private: ros::Publisher pub_;
00089 
00091     private: sensor_msgs::PointCloud cloud_msg_;
00092    
00094     private: std::string topic_name_;
00095 
00097     private: std::string frame_name_;
00098 
00100     private: double gaussian_noise_;
00101 
00103     private: double GaussianKernel(double mu,double sigma);
00104 
00106     private: boost::mutex lock;
00107 
00109     //private: ParamT<double> *hokuyoMinIntensityP;
00110     private: double hokuyo_min_intensity_;
00111 
00113     private: double update_rate_;
00114 
00116     private: std::string robot_namespace_;
00117 
00118     // Custom Callback Queue
00119     private: ros::CallbackQueue laser_queue_;
00120     private: void LaserQueueThread();
00121     private: boost::thread callback_laser_queue_thread_;
00122 
00123     // subscribe to world stats
00124     private: transport::NodePtr node_;
00125     private: common::Time sim_time_;
00126     public: void OnStats( const boost::shared_ptr<msgs::WorldStatistics const> &_msg);
00127 
00128   };
00129 
00130 }
00131 
00132 #endif
00133 


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