Public Member Functions
	GazeboRosGpuLaser ()
	Constructor.
void	Init ()
void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin.
	~GazeboRosGpuLaser ()
	Destructor.
Protected Member Functions
virtual void	OnNewLaserFrame (const float *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Update the controller.
void	PublishLaserScan (const float *_scan, unsigned int _width)
	Update the controller.
void	PublishPointCloud (const float *_scan, unsigned int _width, unsigned int _height)
void	QueueThread ()
Protected Attributes
boost::thread	callback_queue_thread_
std::string	frame_name_
ros::WallTime	last_publish_
ros::CallbackQueue	queue_
ros::NodeHandle *	rosnode_
double	update_period_
double	update_rate_
Private Member Functions
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator.
void	LaserConnect ()
void	LaserDisconnect ()
Private Attributes
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 for point clouds.
sensor_msgs::LaserScan	laser_scan_msg_
ros::Publisher	laser_scan_pub_
	A pointer to the ROS node. A node will be instantiated if it does not exist.
std::string	laser_topic_name_
	ROS image topic name.
double	point_cloud_cutoff_
pcl::PointCloud< pcl::PointXYZI >	point_cloud_msg_
	PCL point cloud message.
std::string	robot_namespace_
common::Time	sensor_update_time_

Detailed Description

Definition at line 62 of file gazebo_ros_gpu_laser.h.

Constructor & Destructor Documentation

gazebo::GazeboRosGpuLaser::GazeboRosGpuLaser ( )

Constructor.

Parameters:

parent The parent entity, must be a Model or a Sensor

Definition at line 56 of file gazebo_ros_gpu_laser.cpp.

gazebo::GazeboRosGpuLaser::~GazeboRosGpuLaser ( )

Destructor.

Definition at line 63 of file gazebo_ros_gpu_laser.cpp.

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

Gaussian noise generator.

Definition at line 450 of file gazebo_ros_gpu_laser.cpp.

void gazebo::GazeboRosGpuLaser::Init ( )

Definition at line 265 of file gazebo_ros_gpu_laser.cpp.

void gazebo::GazeboRosGpuLaser::LaserConnect ( ) [private]

Definition at line 287 of file gazebo_ros_gpu_laser.cpp.

void gazebo::GazeboRosGpuLaser::LaserDisconnect ( ) [private]

Definition at line 294 of file gazebo_ros_gpu_laser.cpp.

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

Load the plugin.

Parameters:

take	in SDF root element

Definition at line 76 of file gazebo_ros_gpu_laser.cpp.

void gazebo::GazeboRosGpuLaser::OnNewLaserFrame	(	const float *	_image,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth,
		const std::string &	_format
	)		`[protected, virtual]`