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.