gazebo::GazeboRosCameraUtils Class Reference

#include <gazebo_ros_camera_utils.h>

Inheritance diagram for gazebo::GazeboRosCameraUtils:

List of all members.

Public Member Functions
	GazeboRosCameraUtils ()
	Constructor.
virtual void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin.
	~GazeboRosCameraUtils ()
	Destructor.
Protected Member Functions
void	CameraQueueThread ()
void	ImageConnect ()
void	ImageDisconnect ()
virtual void	PublishCameraInfo (ros::Publisher &camera_info_publisher)
	Publish CameraInfo to the ROS topic.
virtual void	PublishCameraInfo (common::Time &last_update_time)
virtual void	PublishCameraInfo ()
void	PutCameraData (const unsigned char *_src)
	Put camera data to the ROS topic.
void	PutCameraData (const unsigned char *_src, common::Time &last_update_time)
Protected Attributes
boost::thread	callback_queue_thread_
rendering::CameraPtr	camera_
ros::Publisher	camera_info_pub_
	camera info
std::string	camera_info_topic_name_
ros::CallbackQueue	camera_queue_
double	cx_
double	cx_prime_
double	cy_
unsigned int	depth_
double	distortion_k1_
double	distortion_k2_
double	distortion_k3_
double	distortion_t1_
double	distortion_t2_
double	focal_length_
std::string	format_
std::string	frame_name_
	ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached.
double	hack_baseline_
unsigned int	height_
int	image_connect_count_
	Keep track of number of connctions.
sensor_msgs::Image	image_msg_
	ROS image message.
image_transport::Publisher	image_pub_
std::string	image_topic_name_
	ROS image topic name.
int	imageConnectCount
int	info_connect_count_
	Keep track of number of connctions for CameraInfo.
int	infoConnectCount
common::Time	last_info_update_time_
common::Time	last_update_time_
boost::mutex	lock_
	A mutex to lock access to fields that are used in ROS message callbacks.
sensors::SensorPtr	parentSensor_
ros::NodeHandle *	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist.
common::Time	sensor_update_time_
int	skip_
std::string	type_
	size of image buffer
double	update_period_
double	update_rate_
	update rate of this sensor
unsigned int	width_
physics::WorldPtr	world
physics::WorldPtr	world_
Private Member Functions
void	configCallback (gazebo_plugins::GazeboRosCameraConfig &config, uint32_t level)
void	InfoConnect ()
void	InfoDisconnect ()
void	Init ()
void	SetHFOV (const std_msgs::Float64::ConstPtr &hfov)
	: Camera modification functions
void	SetUpdateRate (const std_msgs::Float64::ConstPtr &update_rate)
Private Attributes
std::string	camera_name_
	ROS camera name.
ros::Subscriber	cameraHFOVSubscriber_
ros::Subscriber	cameraUpdateRateSubscriber_
dynamic_reconfigure::Server < gazebo_plugins::GazeboRosCameraConfig > *	dyn_srv_
image_transport::ImageTransport *	itnode_
event::ConnectionPtr	newFrameConnection_
std::string	robot_namespace_
	for setting ROS name space

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Detailed Description

Definition at line 64 of file gazebo_ros_camera_utils.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosCameraUtils::GazeboRosCameraUtils

(

)

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 62 of file gazebo_ros_camera_utils.cpp.

gazebo::GazeboRosCameraUtils::~GazeboRosCameraUtils

(

)

Destructor.

Definition at line 83 of file gazebo_ros_camera_utils.cpp.

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Member Function Documentation

void gazebo::GazeboRosCameraUtils::CameraQueueThread

(

)

[protected]

publish CameraInfo

take care of callback queue

Definition at line 548 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::configCallback	(	gazebo_plugins::GazeboRosCameraConfig &	config,
		uint32_t	level
	)		[private]

Definition at line 75 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::ImageConnect

(

)

[protected]

Definition at line 318 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::ImageDisconnect

(

)

[protected]

Definition at line 327 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::InfoConnect

(

)

[private]

Reimplemented in gazebo::GazeboRosDepthCamera.

Definition at line 287 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::InfoDisconnect

(

)

[private]

Reimplemented in gazebo::GazeboRosDepthCamera.

Definition at line 295 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::Init

(

)

[private]

Compute camera_ parameters if set to 0

Definition at line 338 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf
	)		[virtual]

Load the plugin.

Parameters:

take	in SDF root element

Reimplemented in gazebo::GazeboRosDepthCamera, gazebo::GazeboRosOpenniKinect, and gazebo::GazeboRosCamera.

Definition at line 95 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::PublishCameraInfo

(

ros::Publisher &

camera_info_publisher

)

[protected, virtual]

Publish CameraInfo to the ROS topic.

Definition at line 490 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::PublishCameraInfo

(

common::Time &

last_update_time

)

[protected, virtual]

Definition at line 470 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::PublishCameraInfo

(

)

[protected, virtual]

Reimplemented in gazebo::GazeboRosOpenniKinect, and gazebo::GazeboRosDepthCamera.

Definition at line 476 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::PutCameraData

(

const unsigned char *

_src

)

[protected]

Put camera data to the ROS topic.

don't bother if there are no subscribers

Definition at line 439 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::PutCameraData	(	const unsigned char *	_src,
		common::Time &	last_update_time
	)		[protected]

Definition at line 433 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::SetHFOV

(

const std_msgs::Float64::ConstPtr &

hfov

)

[private]

: Camera modification functions

Definition at line 304 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::SetUpdateRate

(

const std_msgs::Float64::ConstPtr &

update_rate

)

[private]

Definition at line 311 of file gazebo_ros_camera_utils.cpp.

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Member Data Documentation

boost::thread gazebo::GazeboRosCameraUtils::callback_queue_thread_ [protected]

Definition at line 159 of file gazebo_ros_camera_utils.h.

rendering::CameraPtr gazebo::GazeboRosCameraUtils::camera_ [protected]

Definition at line 167 of file gazebo_ros_camera_utils.h.

ros::Publisher gazebo::GazeboRosCameraUtils::camera_info_pub_ [protected]

camera info

Definition at line 118 of file gazebo_ros_camera_utils.h.

std::string gazebo::GazeboRosCameraUtils::camera_info_topic_name_ [protected]

Definition at line 119 of file gazebo_ros_camera_utils.h.

std::string gazebo::GazeboRosCameraUtils::camera_name_ [private]

ROS camera name.

Definition at line 104 of file gazebo_ros_camera_utils.h.

ros::CallbackQueue gazebo::GazeboRosCameraUtils::camera_queue_ [protected]

Definition at line 157 of file gazebo_ros_camera_utils.h.

ros::Subscriber gazebo::GazeboRosCameraUtils::cameraHFOVSubscriber_ [private]

Definition at line 148 of file gazebo_ros_camera_utils.h.

ros::Subscriber gazebo::GazeboRosCameraUtils::cameraUpdateRateSubscriber_ [private]

Definition at line 149 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::cx_ [protected]

Definition at line 131 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::cx_prime_ [protected]

Definition at line 130 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::cy_ [protected]

Definition at line 132 of file gazebo_ros_camera_utils.h.

unsigned int gazebo::GazeboRosCameraUtils::depth_ [protected]

Definition at line 163 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::distortion_k1_ [protected]

Definition at line 135 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::distortion_k2_ [protected]

Definition at line 136 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::distortion_k3_ [protected]

Definition at line 137 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::distortion_t1_ [protected]

Definition at line 138 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::distortion_t2_ [protected]

Definition at line 139 of file gazebo_ros_camera_utils.h.

dynamic_reconfigure::Server<gazebo_plugins::GazeboRosCameraConfig>* gazebo::GazeboRosCameraUtils::dyn_srv_ [private]

Definition at line 153 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::focal_length_ [protected]

Definition at line 133 of file gazebo_ros_camera_utils.h.

std::string gazebo::GazeboRosCameraUtils::format_ [protected]

Definition at line 164 of file gazebo_ros_camera_utils.h.

std::string gazebo::GazeboRosCameraUtils::frame_name_ [protected]

ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached.

Definition at line 124 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::hack_baseline_ [protected]

Definition at line 134 of file gazebo_ros_camera_utils.h.

unsigned int gazebo::GazeboRosCameraUtils::height_ [protected]

Definition at line 163 of file gazebo_ros_camera_utils.h.

int gazebo::GazeboRosCameraUtils::image_connect_count_ [protected]

Keep track of number of connctions.

Definition at line 84 of file gazebo_ros_camera_utils.h.

sensor_msgs::Image gazebo::GazeboRosCameraUtils::image_msg_ [protected]

ROS image message.

Definition at line 98 of file gazebo_ros_camera_utils.h.

image_transport::Publisher gazebo::GazeboRosCameraUtils::image_pub_ [protected]

Definition at line 94 of file gazebo_ros_camera_utils.h.

std::string gazebo::GazeboRosCameraUtils::image_topic_name_ [protected]

ROS image topic name.

Definition at line 107 of file gazebo_ros_camera_utils.h.

int gazebo::GazeboRosCameraUtils::imageConnectCount [protected]

Definition at line 177 of file gazebo_ros_camera_utils.h.

int gazebo::GazeboRosCameraUtils::info_connect_count_ [protected]

Keep track of number of connctions for CameraInfo.

Definition at line 114 of file gazebo_ros_camera_utils.h.

int gazebo::GazeboRosCameraUtils::infoConnectCount [protected]

Definition at line 178 of file gazebo_ros_camera_utils.h.

image_transport::ImageTransport* gazebo::GazeboRosCameraUtils::itnode_ [private]

Definition at line 95 of file gazebo_ros_camera_utils.h.

common::Time gazebo::GazeboRosCameraUtils::last_info_update_time_ [protected]

Definition at line 120 of file gazebo_ros_camera_utils.h.

common::Time gazebo::GazeboRosCameraUtils::last_update_time_ [protected]

Definition at line 128 of file gazebo_ros_camera_utils.h.

boost::mutex gazebo::GazeboRosCameraUtils::lock_ [protected]

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

Definition at line 142 of file gazebo_ros_camera_utils.h.

event::ConnectionPtr gazebo::GazeboRosCameraUtils::newFrameConnection_ [private]

Definition at line 172 of file gazebo_ros_camera_utils.h.

sensors::SensorPtr gazebo::GazeboRosCameraUtils::parentSensor_ [protected]

Definition at line 166 of file gazebo_ros_camera_utils.h.

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

for setting ROS name space

Definition at line 101 of file gazebo_ros_camera_utils.h.

ros::NodeHandle* gazebo::GazeboRosCameraUtils::rosnode_ [protected]

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 93 of file gazebo_ros_camera_utils.h.

common::Time gazebo::GazeboRosCameraUtils::sensor_update_time_ [protected]

Definition at line 174 of file gazebo_ros_camera_utils.h.

int gazebo::GazeboRosCameraUtils::skip_ [protected]

Definition at line 146 of file gazebo_ros_camera_utils.h.

std::string gazebo::GazeboRosCameraUtils::type_ [protected]

size of image buffer

Definition at line 145 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::update_period_ [protected]

Definition at line 127 of file gazebo_ros_camera_utils.h.

double gazebo::GazeboRosCameraUtils::update_rate_ [protected]

update rate of this sensor

Definition at line 126 of file gazebo_ros_camera_utils.h.

unsigned int gazebo::GazeboRosCameraUtils::width_ [protected]

Definition at line 163 of file gazebo_ros_camera_utils.h.

physics::WorldPtr gazebo::GazeboRosCameraUtils::world [protected]

Definition at line 179 of file gazebo_ros_camera_utils.h.

physics::WorldPtr gazebo::GazeboRosCameraUtils::world_ [protected]

Definition at line 170 of file gazebo_ros_camera_utils.h.

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

• gazebo_ros_camera_utils.h
• gazebo_ros_camera_utils.cpp