Classes | Namespaces | Defines
gazebo_ros_ir.h File Reference
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>
#include <gazebo/Controller.hh>
#include <gazebo/Param.hh>
#include <gazebo/Time.hh>
#include <ros/ros.h>
#include "boost/thread/mutex.hpp"
#include <sensor_msgs/Range.h>
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Classes

class  gazebo::GazeboRosIr
 Sick LMS 200 lase controller. More...

Namespaces

namespace  gazebo

Defines

#define USE_CBQ
 ROS ir scan controller.

Define Documentation

#define USE_CBQ

ROS ir scan controller.

  • Starts a ROS node if none exists.
  • Simulates a ir range sensor and publish sensor_msgs::Range.msg over ROS.
  • Example Usage:
        <model:physical name="ir_model">
          <body:empty name="ir_body_name">
            <sensor:ir name="ir_sensor">
              <origin>0.0 0.0 0.0</origin>
              <rayCount>683</rayCount>
              <rangeCount>683</rangeCount>
              <laserCount>1</laserCount>
              <displayRays>false</displayRays>
              <minRange>0.05</minRange>
              <maxRange>10.0</maxRange>
              <updateRate>10.0</updateRate>
              <controller:gazebo_ros_ir name="ros_ir_sensor_controller" plugin="libgazebo_ros_ir.so">
                <gaussianNoise>0.005</gaussianNoise>
                <alwaysOn>true</alwaysOn>
                <updateRate>15.0</updateRate>
                <topicName>ir_scan</topicName>
                <frameName>ir_model</frameName>
                <interface:ir name="ros_ir_sensor_iface" />
              </controller:gazebo_ros_ir>
            </sensor:ir>
          </body:empty>
        </model:phyiscal>
      

Definition at line 63 of file gazebo_ros_ir.h.



range_gazebo_plugin
Author(s): Jose Capriles
autogenerated on Thu Jan 2 2014 11:37:22