gazebo::GazeboRosBlockLaser Class Reference

#include <gazebo_ros_block_laser.h>

List of all members.

Public Member Functions
	GazeboRosBlockLaser ()
	Constructor.
void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin.
void	OnStats (const boost::shared_ptr< msgs::WorldStatistics const > &_msg)
	~GazeboRosBlockLaser ()
	Destructor.
Protected Member Functions
virtual void	OnNewLaserScans ()
	Update the controller.
Private Member Functions
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator.
void	LaserConnect ()
void	LaserDisconnect ()
void	LaserQueueThread ()
void	PutLaserData (common::Time &_updateTime)
	Put laser data to the ROS topic.
Private Attributes
boost::thread	callback_laser_queue_thread_
sensor_msgs::PointCloud	cloud_msg_
	ros message
std::string	frame_name_
	frame transform name, should match link name
double	gaussian_noise_
	Gaussian noise.
double	hokuyo_min_intensity_
	hack to mimic hokuyo intensity cutoff of 100
int	laser_connect_count_
	Keep track of number of connctions.
ros::CallbackQueue	laser_queue_
common::Time	last_update_time_
boost::mutex	lock
	A mutex to lock access to fields that are used in message callbacks.
transport::NodePtr	node_
sensors::RaySensorPtr	parent_ray_sensor_
sensors::SensorPtr	parent_sensor_
	The parent sensor.
ros::Publisher	pub_
std::string	robot_namespace_
	for setting ROS name space
ros::NodeHandle *	rosnode_
	pointer to ros node
common::Time	sim_time_
std::string	topic_name_
	topic name
double	update_rate_
	update rate of this sensor
physics::WorldPtr	world_

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Detailed Description

Definition at line 54 of file gazebo_ros_block_laser.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosBlockLaser::GazeboRosBlockLaser

(

)

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 53 of file gazebo_ros_block_laser.cpp.

gazebo::GazeboRosBlockLaser::~GazeboRosBlockLaser

(

)

Destructor.

Definition at line 59 of file gazebo_ros_block_laser.cpp.

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Member Function Documentation

double gazebo::GazeboRosBlockLaser::GaussianKernel	(	double	mu,
		double	sigma
	)		[private]

Gaussian noise generator.

Definition at line 359 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::LaserConnect

(

)

[private]

Definition at line 186 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::LaserDisconnect

(

)

[private]

Definition at line 193 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::LaserQueueThread

(

)

[private]

Definition at line 376 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Load the plugin.

Parameters:

take	in SDF root element

Definition at line 73 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::OnNewLaserScans

(

)

[protected, virtual]

Update the controller.

Definition at line 203 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::OnStats

(

const boost::shared_ptr< msgs::WorldStatistics const > &

_msg

)

Definition at line 386 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::PutLaserData

(

common::Time &

_updateTime

)

[private]

Put laser data to the ROS topic.

Definition at line 222 of file gazebo_ros_block_laser.cpp.

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Member Data Documentation

boost::thread gazebo::GazeboRosBlockLaser::callback_laser_queue_thread_ [private]

Definition at line 121 of file gazebo_ros_block_laser.h.

sensor_msgs::PointCloud gazebo::GazeboRosBlockLaser::cloud_msg_ [private]

ros message

Definition at line 91 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::frame_name_ [private]

frame transform name, should match link name

Definition at line 97 of file gazebo_ros_block_laser.h.

double gazebo::GazeboRosBlockLaser::gaussian_noise_ [private]

Gaussian noise.

Definition at line 100 of file gazebo_ros_block_laser.h.

double gazebo::GazeboRosBlockLaser::hokuyo_min_intensity_ [private]

hack to mimic hokuyo intensity cutoff of 100

Definition at line 110 of file gazebo_ros_block_laser.h.

int gazebo::GazeboRosBlockLaser::laser_connect_count_ [private]

Keep track of number of connctions.

Definition at line 76 of file gazebo_ros_block_laser.h.

ros::CallbackQueue gazebo::GazeboRosBlockLaser::laser_queue_ [private]

Definition at line 119 of file gazebo_ros_block_laser.h.

common::Time gazebo::GazeboRosBlockLaser::last_update_time_ [private]

Definition at line 73 of file gazebo_ros_block_laser.h.

boost::mutex gazebo::GazeboRosBlockLaser::lock [private]

A mutex to lock access to fields that are used in message callbacks.

Definition at line 106 of file gazebo_ros_block_laser.h.

transport::NodePtr gazebo::GazeboRosBlockLaser::node_ [private]

Definition at line 124 of file gazebo_ros_block_laser.h.

sensors::RaySensorPtr gazebo::GazeboRosBlockLaser::parent_ray_sensor_ [private]

Definition at line 84 of file gazebo_ros_block_laser.h.

sensors::SensorPtr gazebo::GazeboRosBlockLaser::parent_sensor_ [private]

The parent sensor.

Definition at line 83 of file gazebo_ros_block_laser.h.

ros::Publisher gazebo::GazeboRosBlockLaser::pub_ [private]

Definition at line 88 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::robot_namespace_ [private]

for setting ROS name space

Definition at line 116 of file gazebo_ros_block_laser.h.

ros::NodeHandle* gazebo::GazeboRosBlockLaser::rosnode_ [private]

pointer to ros node

Definition at line 87 of file gazebo_ros_block_laser.h.

common::Time gazebo::GazeboRosBlockLaser::sim_time_ [private]

Definition at line 125 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::topic_name_ [private]

topic name

Definition at line 94 of file gazebo_ros_block_laser.h.

double gazebo::GazeboRosBlockLaser::update_rate_ [private]

update rate of this sensor

Definition at line 113 of file gazebo_ros_block_laser.h.

physics::WorldPtr gazebo::GazeboRosBlockLaser::world_ [private]

Definition at line 81 of file gazebo_ros_block_laser.h.

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The documentation for this class was generated from the following files:

• gazebo_ros_block_laser.h
• gazebo_ros_block_laser.cpp