gazebo_ros_p3d.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: 3D position interface.
00023  * Author: Sachin Chitta and John Hsu
00024  * Date: 10 June 2008
00025  * SVN: $Id$
00026  */
00027 #ifndef GAZEBO_ROS_P3D_HH
00028 #define GAZEBO_ROS_P3D_HH
00029 
00030 #include <ros/callback_queue.h>
00031 #include <ros/advertise_options.h>
00032 
00033 #include "physics/physics.h"
00034 #include "transport/TransportTypes.hh"
00035 #include "common/Time.hh"
00036 #include "common/Plugin.hh"
00037 #include "common/Events.hh"
00038 
00039 #include <ros/ros.h>
00040 #include <boost/thread.hpp>
00041 #include "boost/thread/mutex.hpp"
00042 #include <nav_msgs/Odometry.h>
00043 
00044 namespace gazebo
00045 {
00046 
00047    class GazeboRosP3D : public ModelPlugin
00048    {
00050       public: GazeboRosP3D();
00051 
00053       public: virtual ~GazeboRosP3D();
00054 
00056       public: void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf );
00057 
00059       protected: virtual void UpdateChild();
00060 
00061       private: physics::WorldPtr world_;
00062       private: physics::ModelPtr model_;
00063 
00065       private: physics::LinkPtr link_; //Gazebo Link
00066 
00068       private: physics::LinkPtr reference_link_;
00069 
00070 
00072       private: ros::NodeHandle* rosnode_;
00073       private: ros::Publisher pub_;
00074 
00076       private: nav_msgs::Odometry pose_msg_;
00077 
00079       private: std::string link_name_;
00080 
00082       private: std::string topic_name_;
00083 
00086       private: std::string frame_name_;
00087       private: std::string tf_frame_name_;
00088 
00090       private: math::Pose offset_;
00091 
00093       private: boost::mutex lock;
00094 
00096       private: common::Time last_time_;
00097       private: math::Vector3 last_vpos_;
00098       private: math::Vector3 last_veul_;
00099       private: math::Vector3 apos_;
00100       private: math::Vector3 aeul_;
00101       private: math::Vector3 last_frame_vpos_;
00102       private: math::Vector3 last_frame_veul_;
00103       private: math::Vector3 frame_apos_;
00104       private: math::Vector3 frame_aeul_;
00105 
00106       // rate control
00107       private: double update_rate_;
00108 
00110       private: double gaussian_noise_;
00111 
00113       private: double GaussianKernel(double mu,double sigma);
00114 
00116       private: std::string robot_namespace_;
00117 
00119       private: int p3d_connect_count_;
00120       private: void P3DConnect();
00121       private: void P3DDisconnect();
00122 
00123       private: ros::CallbackQueue p3d_queue_;
00124       private: void P3DQueueThread();
00125       private: boost::thread callback_queue_thread_;
00126       
00127       // Pointer to the update event connection
00128       private: event::ConnectionPtr update_connection_;
00129 
00130    };
00131 
00133 
00134 
00135 
00136 }
00137 
00138 #endif
00139 


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