#include <gazebo_ros_openni_kinect.h>

Inheritance diagram for gazebo::GazeboRosOpenniKinect:

Public Member Functions
virtual void	Advertise ()
	Advertise point cloud and depth image.
	GazeboRosOpenniKinect ()
	Constructor.
virtual void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin.
	~GazeboRosOpenniKinect ()
	Destructor.
Protected Member Functions
virtual void	OnNewDepthFrame (const float *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Update the controller.
virtual void	OnNewImageFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Update the controller.
virtual void	PublishCameraInfo ()
Protected Attributes
ros::Publisher	depth_image_camera_info_pub_
Private Member Functions
void	DepthImageConnect ()
void	DepthImageDisconnect ()
void	DepthInfoConnect ()
void	DepthInfoDisconnect ()
void	FillDepthImage (const float *_src)
	push depth image data into ros topic
bool	FillDepthImageHelper (sensor_msgs::Image &image_msg, uint32_t height, uint32_t width, uint32_t step, void *data_arg)
bool	FillPointCloudHelper (sensor_msgs::PointCloud2 &point_cloud_msg, uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, void *data_arg)
void	FillPointdCloud (const float *_src)
	push point cloud data into ros topic
void	PointCloudConnect ()
void	PointCloudDisconnect ()
Private Attributes
std::string	depth_image_camera_info_topic_name_
int	depth_image_connect_count_
	Keep track of number of connctions for point clouds.
sensor_msgs::Image	depth_image_msg_
ros::Publisher	depth_image_pub_
std::string	depth_image_topic_name_
	image where each pixel contains the depth data
int	depth_info_connect_count_
common::Time	depth_sensor_update_time_
common::Time	last_depth_image_camera_info_update_time_
event::ConnectionPtr	load_connection_
int	point_cloud_connect_count_
	Keep track of number of connctions for point clouds.
double	point_cloud_cutoff_
sensor_msgs::PointCloud2	point_cloud_msg_
	PCL point cloud message.
ros::Publisher	point_cloud_pub_
	A pointer to the ROS node. A node will be instantiated if it does not exist.
std::string	point_cloud_topic_name_
	ROS image topic name.

Detailed Description

Definition at line 62 of file gazebo_ros_openni_kinect.h.

Constructor & Destructor Documentation

gazebo::GazeboRosOpenniKinect::GazeboRosOpenniKinect ( )

Constructor.

Parameters:

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

Definition at line 47 of file gazebo_ros_openni_kinect.cpp.

gazebo::GazeboRosOpenniKinect::~GazeboRosOpenniKinect ( )

Destructor.

Definition at line 57 of file gazebo_ros_openni_kinect.cpp.

Member Function Documentation

void gazebo::GazeboRosOpenniKinect::Advertise ( ) [virtual]

Advertise point cloud and depth image.

Definition at line 107 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthImageConnect ( ) [private]

Definition at line 154 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthImageDisconnect ( ) [private]

Definition at line 161 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthInfoConnect ( ) [private]

Definition at line 168 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthInfoDisconnect ( ) [private]

Definition at line 174 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::FillDepthImage ( const float * _src ) [private]

push depth image data into ros topic

copy from depth to depth image message

Definition at line 277 of file gazebo_ros_openni_kinect.cpp.

bool gazebo::GazeboRosOpenniKinect::FillDepthImageHelper	(	sensor_msgs::Image &	image_msg,
		uint32_t	height,
		uint32_t	width,
		uint32_t	step,
		void *	data_arg
	)		`[private]`

Definition at line 384 of file gazebo_ros_openni_kinect.cpp.

bool gazebo::GazeboRosOpenniKinect::FillPointCloudHelper	(	sensor_msgs::PointCloud2 &	point_cloud_msg,
		uint32_t	rows_arg,
		uint32_t	cols_arg,
		uint32_t	step_arg,
		void *	data_arg
	)		`[private]`

Definition at line 299 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::FillPointdCloud ( const float * _src ) [private]

push point cloud data into ros topic

copy from depth to point cloud message

Definition at line 252 of file gazebo_ros_openni_kinect.cpp.

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

Load the plugin.

Parameters:

take	in SDF root element

Definition at line 63 of file gazebo_ros_openni_kinect.cpp.

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

Update the controller.

Definition at line 181 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::OnNewImageFrame	(	const unsigned char *	_image,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth,
		const std::string &	_format
	)		`[protected, virtual]`