gazebo_ros_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: John Hsu
00024  * Date: 24 Sept 2007
00025  * SVN: $Id$
00026  */
00027 
00028 #ifndef GAZEBO_ROS_LASER_HH
00029 #define GAZEBO_ROS_LASER_HH
00030 
00031 #include <ros/ros.h>
00032 #include <ros/callback_queue.h>
00033 #include <ros/advertise_options.h>
00034 
00035 #include "sdf/interface/Param.hh"
00036 #include "physics/physics.h"
00037 #include "transport/TransportTypes.hh"
00038 #include "msgs/MessageTypes.hh"
00039 #include "common/Time.hh"
00040 #include "common/Plugin.hh"
00041 #include "common/Events.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/LaserScan.h>
00050 
00051 namespace gazebo
00052 {
00053   class GazeboRosLaser : public RayPlugin
00054   {
00056     public: GazeboRosLaser();
00057 
00059     public: ~GazeboRosLaser();
00060 
00063     public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
00064 
00066     protected: virtual void OnNewLaserScans();
00067 
00069     private: void PutLaserData(common::Time &_updateTime);
00070 
00072     private: int laser_connect_count_;
00073     private: void LaserConnect();
00074     private: void LaserDisconnect();
00075 
00076     // Pointer to the model
00077     private: physics::WorldPtr world_;
00079     private: sensors::SensorPtr parent_sensor_;
00080     private: sensors::RaySensorPtr parent_ray_sensor_;
00081 
00083     private: ros::NodeHandle* rosnode_;
00084     private: ros::Publisher pub_;
00085 
00087     private: sensor_msgs::LaserScan laser_msg_;
00088    
00090     private: std::string topic_name_;
00091     //private: ParamT<std::string> *topicNameP;
00092 
00094     private: std::string frame_name_;
00095 
00097     private: double gaussian_noise_;
00098     //private: ParamT<double> *gaussianNoiseP;
00099 
00101     private: double GaussianKernel(double mu,double sigma);
00102 
00104     private: boost::mutex lock_;
00105 
00107     //private: ParamT<double> *hokuyoMinIntensityP;
00108     private: double hokuyo_min_intensity_;
00109 
00111     private: double update_rate_;
00112     private: double update_period_;
00113     private: common::Time last_update_time_;
00114 
00116     private: std::string robot_namespace_;
00117 
00118     private: ros::CallbackQueue laser_queue_;
00119     private: void LaserQueueThread();
00120     private: boost::thread callback_queue_thread_;
00121   };
00122 
00123 }
00124 
00125 #endif
00126 


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