gazebo::GazeboRosDiffDrive Class Reference

#include <gazebo_ros_diff_drive.h>

List of all members.

Public Member Functions
	GazeboRosDiffDrive ()
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	~GazeboRosDiffDrive ()
Protected Member Functions
virtual void	FiniChild ()
virtual void	UpdateChild ()
Private Types
enum	OdomSource { ENCODER = 0, WORLD = 1 }
Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
void	getWheelVelocities ()
void	publishOdometry (double step_time)
void	publishWheelJointState ()
	publishes the wheel tf's
void	publishWheelTF ()
void	QueueThread ()
void	UpdateOdometryEncoder ()
Private Attributes
bool	alive_
boost::thread	callback_queue_thread_
ros::Subscriber	cmd_vel_subscriber_
std::string	command_topic_
GazeboRosPtr	gazebo_ros_
sensor_msgs::JointState	joint_state_
ros::Publisher	joint_state_publisher_
std::vector< physics::JointPtr >	joints_
common::Time	last_odom_update_
common::Time	last_update_time_
boost::mutex	lock
nav_msgs::Odometry	odom_
OdomSource	odom_source_
std::string	odometry_frame_
ros::Publisher	odometry_publisher_
std::string	odometry_topic_
physics::ModelPtr	parent
geometry_msgs::Pose2D	pose_encoder_
bool	publish_tf_
bool	publishWheelJointState_
bool	publishWheelTF_
ros::CallbackQueue	queue_
std::string	robot_base_frame_
std::string	robot_namespace_
double	rot_
std::string	tf_prefix_
boost::shared_ptr < tf::TransformBroadcaster >	transform_broadcaster_
event::ConnectionPtr	update_connection_
double	update_period_
double	update_rate_
double	wheel_accel
double	wheel_diameter_
double	wheel_separation_
double	wheel_speed_ [2]
double	wheel_speed_instr_ [2]
double	wheel_torque
double	x_

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Detailed Description

Definition at line 73 of file gazebo_ros_diff_drive.h.

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Member Enumeration Documentation

enum gazebo::GazeboRosDiffDrive::OdomSource [private]

Enumerator:

ENCODER
WORLD

Definition at line 75 of file gazebo_ros_diff_drive.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosDiffDrive::GazeboRosDiffDrive

(

)

Definition at line 68 of file gazebo_ros_diff_drive.cpp.

gazebo::GazeboRosDiffDrive::~GazeboRosDiffDrive

(

)

Definition at line 71 of file gazebo_ros_diff_drive.cpp.

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Member Function Documentation

void gazebo::GazeboRosDiffDrive::cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_msg

)

[private]

Definition at line 269 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::FiniChild

(

)

[protected, virtual]

Definition at line 249 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::getWheelVelocities

(

)

[private]

Definition at line 258 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Definition at line 74 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::publishOdometry

(

double

step_time

)

[private]

Definition at line 331 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::publishWheelJointState

(

)

[private]

publishes the wheel tf's

Definition at line 165 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::publishWheelTF

(

)

[private]

Definition at line 182 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::QueueThread

(

)

[private]

Definition at line 276 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::UpdateChild

(

)

[protected, virtual]

Definition at line 202 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::UpdateOdometryEncoder

(

)

[private]

Definition at line 285 of file gazebo_ros_diff_drive.cpp.

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Member Data Documentation

bool gazebo::GazeboRosDiffDrive::alive_ [private]

Definition at line 137 of file gazebo_ros_diff_drive.h.

boost::thread gazebo::GazeboRosDiffDrive::callback_queue_thread_ [private]

Definition at line 129 of file gazebo_ros_diff_drive.h.

ros::Subscriber gazebo::GazeboRosDiffDrive::cmd_vel_subscriber_ [private]

Definition at line 112 of file gazebo_ros_diff_drive.h.

std::string gazebo::GazeboRosDiffDrive::command_topic_ [private]

Definition at line 122 of file gazebo_ros_diff_drive.h.

GazeboRosPtr gazebo::GazeboRosDiffDrive::gazebo_ros_ [private]

Definition at line 97 of file gazebo_ros_diff_drive.h.

sensor_msgs::JointState gazebo::GazeboRosDiffDrive::joint_state_ [private]

Definition at line 114 of file gazebo_ros_diff_drive.h.

ros::Publisher gazebo::GazeboRosDiffDrive::joint_state_publisher_ [private]

Definition at line 115 of file gazebo_ros_diff_drive.h.

std::vector<physics::JointPtr> gazebo::GazeboRosDiffDrive::joints_ [private]

Definition at line 108 of file gazebo_ros_diff_drive.h.

common::Time gazebo::GazeboRosDiffDrive::last_odom_update_ [private]

Definition at line 146 of file gazebo_ros_diff_drive.h.

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

Definition at line 142 of file gazebo_ros_diff_drive.h.

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

Definition at line 119 of file gazebo_ros_diff_drive.h.

nav_msgs::Odometry gazebo::GazeboRosDiffDrive::odom_ [private]

Definition at line 116 of file gazebo_ros_diff_drive.h.

OdomSource gazebo::GazeboRosDiffDrive::odom_source_ [private]

Definition at line 144 of file gazebo_ros_diff_drive.h.

std::string gazebo::GazeboRosDiffDrive::odometry_frame_ [private]

Definition at line 124 of file gazebo_ros_diff_drive.h.

ros::Publisher gazebo::GazeboRosDiffDrive::odometry_publisher_ [private]

Definition at line 111 of file gazebo_ros_diff_drive.h.

std::string gazebo::GazeboRosDiffDrive::odometry_topic_ [private]

Definition at line 123 of file gazebo_ros_diff_drive.h.

physics::ModelPtr gazebo::GazeboRosDiffDrive::parent [private]

Definition at line 98 of file gazebo_ros_diff_drive.h.

geometry_msgs::Pose2D gazebo::GazeboRosDiffDrive::pose_encoder_ [private]

Definition at line 145 of file gazebo_ros_diff_drive.h.

bool gazebo::GazeboRosDiffDrive::publish_tf_ [private]

Definition at line 126 of file gazebo_ros_diff_drive.h.

bool gazebo::GazeboRosDiffDrive::publishWheelJointState_ [private]

Definition at line 150 of file gazebo_ros_diff_drive.h.

bool gazebo::GazeboRosDiffDrive::publishWheelTF_ [private]

Definition at line 149 of file gazebo_ros_diff_drive.h.

ros::CallbackQueue gazebo::GazeboRosDiffDrive::queue_ [private]

Definition at line 128 of file gazebo_ros_diff_drive.h.

std::string gazebo::GazeboRosDiffDrive::robot_base_frame_ [private]

Definition at line 125 of file gazebo_ros_diff_drive.h.

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

Definition at line 121 of file gazebo_ros_diff_drive.h.

double gazebo::GazeboRosDiffDrive::rot_ [private]

Definition at line 136 of file gazebo_ros_diff_drive.h.

std::string gazebo::GazeboRosDiffDrive::tf_prefix_ [private]

Definition at line 117 of file gazebo_ros_diff_drive.h.

boost::shared_ptr<tf::TransformBroadcaster> gazebo::GazeboRosDiffDrive::transform_broadcaster_ [private]

Definition at line 113 of file gazebo_ros_diff_drive.h.

event::ConnectionPtr gazebo::GazeboRosDiffDrive::update_connection_ [private]

Definition at line 99 of file gazebo_ros_diff_drive.h.

double gazebo::GazeboRosDiffDrive::update_period_ [private]

Definition at line 141 of file gazebo_ros_diff_drive.h.

double gazebo::GazeboRosDiffDrive::update_rate_ [private]

Definition at line 140 of file gazebo_ros_diff_drive.h.

double gazebo::GazeboRosDiffDrive::wheel_accel [private]

Definition at line 105 of file gazebo_ros_diff_drive.h.

double gazebo::GazeboRosDiffDrive::wheel_diameter_ [private]

Definition at line 102 of file gazebo_ros_diff_drive.h.

double gazebo::GazeboRosDiffDrive::wheel_separation_ [private]

Definition at line 101 of file gazebo_ros_diff_drive.h.

double gazebo::GazeboRosDiffDrive::wheel_speed_[2] [private]

Definition at line 104 of file gazebo_ros_diff_drive.h.

double gazebo::GazeboRosDiffDrive::wheel_speed_instr_[2] [private]

Definition at line 106 of file gazebo_ros_diff_drive.h.

double gazebo::GazeboRosDiffDrive::wheel_torque [private]

Definition at line 103 of file gazebo_ros_diff_drive.h.

double gazebo::GazeboRosDiffDrive::x_ [private]

Definition at line 135 of file gazebo_ros_diff_drive.h.

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

• gazebo_ros_diff_drive.h
• gazebo_ros_diff_drive.cpp