gazebo::GazeboRosTricycleDrive Class Reference

#include <gazebo_ros_tricycle_drive.h>

List of all members.

Classes
class	TricycleDriveCmd
Public Member Functions
	GazeboRosTricycleDrive ()
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	~GazeboRosTricycleDrive ()
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	motorController (double target_speed, double target_angle, double dt)
void	publishOdometry (double step_time)
void	publishWheelJointState ()
	publishes the wheel tf's
void	publishWheelTF ()
void	QueueThread ()
void	UpdateOdometryEncoder ()
	updates the relative robot pose based on the wheel encoders
Private Attributes
bool	alive_
boost::thread	callback_queue_thread_
TricycleDriveCmd	cmd_
ros::Subscriber	cmd_vel_subscriber_
std::string	command_topic_
double	diameter_actuated_wheel_
double	diameter_encoder_wheel_
GazeboRosPtr	gazebo_ros_
sensor_msgs::JointState	joint_state_
ros::Publisher	joint_state_publisher_
physics::JointPtr	joint_steering_
physics::JointPtr	joint_wheel_actuated_
physics::JointPtr	joint_wheel_encoder_left_
physics::JointPtr	joint_wheel_encoder_right_
common::Time	last_actuator_update_
common::Time	last_odom_update_
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	publishWheelJointState_
bool	publishWheelTF_
ros::CallbackQueue	queue_
std::string	robot_base_frame_
std::string	robot_namespace_
double	separation_encoder_wheel_
double	steering_angle_tolerance_
double	steering_speed_
boost::shared_ptr < tf::TransformBroadcaster >	transform_broadcaster_
event::ConnectionPtr	update_connection_
double	update_period_
double	update_rate_
double	wheel_acceleration_
double	wheel_deceleration_
double	wheel_speed_tolerance_
double	wheel_torque_

---

Detailed Description

Definition at line 73 of file gazebo_ros_tricycle_drive.h.

---

Member Enumeration Documentation

enum gazebo::GazeboRosTricycleDrive::OdomSource [private]

Enumerator:

ENCODER
WORLD

Definition at line 82 of file gazebo_ros_tricycle_drive.h.

---

Constructor & Destructor Documentation

gazebo::GazeboRosTricycleDrive::GazeboRosTricycleDrive

(

)

Definition at line 67 of file gazebo_ros_tricycle_drive.cpp.

gazebo::GazeboRosTricycleDrive::~GazeboRosTricycleDrive

(

)

Definition at line 70 of file gazebo_ros_tricycle_drive.cpp.

---

Member Function Documentation

void gazebo::GazeboRosTricycleDrive::cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_msg

)

[private]

Definition at line 275 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::FiniChild

(

)

[protected, virtual]

Definition at line 266 of file gazebo_ros_tricycle_drive.cpp.

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

Definition at line 73 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::motorController	(	double	target_speed,
		double	target_angle,
		double	dt
	)		[private]

Definition at line 221 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::publishOdometry

(

double

step_time

)

[private]

Definition at line 337 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::publishWheelJointState

(

)

[private]

publishes the wheel tf's

Definition at line 152 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::publishWheelTF

(

)

[private]

Definition at line 175 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::QueueThread

(

)

[private]

Definition at line 282 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::UpdateChild

(

)

[protected, virtual]

Definition at line 198 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::UpdateOdometryEncoder

(

)

[private]

updates the relative robot pose based on the wheel encoders

Definition at line 291 of file gazebo_ros_tricycle_drive.cpp.

---

Member Data Documentation

bool gazebo::GazeboRosTricycleDrive::alive_ [private]

Definition at line 152 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 142 of file gazebo_ros_tricycle_drive.h.

TricycleDriveCmd gazebo::GazeboRosTricycleDrive::cmd_ [private]

Definition at line 151 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 131 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 124 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::diameter_actuated_wheel_ [private]

Definition at line 112 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::diameter_encoder_wheel_ [private]

Definition at line 111 of file gazebo_ros_tricycle_drive.h.

GazeboRosPtr gazebo::GazeboRosTricycleDrive::gazebo_ros_ [private]

Definition at line 97 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 133 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 134 of file gazebo_ros_tricycle_drive.h.

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_steering_ [private]

Definition at line 106 of file gazebo_ros_tricycle_drive.h.

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_wheel_actuated_ [private]

Definition at line 107 of file gazebo_ros_tricycle_drive.h.

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_wheel_encoder_left_ [private]

Definition at line 108 of file gazebo_ros_tricycle_drive.h.

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_wheel_encoder_right_ [private]

Definition at line 109 of file gazebo_ros_tricycle_drive.h.

common::Time gazebo::GazeboRosTricycleDrive::last_actuator_update_ [private]

Definition at line 159 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 154 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 137 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 135 of file gazebo_ros_tricycle_drive.h.

OdomSource gazebo::GazeboRosTricycleDrive::odom_source_ [private]

Definition at line 120 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 126 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 130 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 125 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 98 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 153 of file gazebo_ros_tricycle_drive.h.

bool gazebo::GazeboRosTricycleDrive::publishWheelJointState_ [private]

Definition at line 163 of file gazebo_ros_tricycle_drive.h.

bool gazebo::GazeboRosTricycleDrive::publishWheelTF_ [private]

Definition at line 162 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 141 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 127 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 123 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::separation_encoder_wheel_ [private]

Definition at line 118 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::steering_angle_tolerance_ [private]

Definition at line 116 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::steering_speed_ [private]

Definition at line 117 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 132 of file gazebo_ros_tricycle_drive.h.

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

Definition at line 104 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::update_period_ [private]

Definition at line 158 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::update_rate_ [private]

Definition at line 157 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::wheel_acceleration_ [private]

Definition at line 113 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::wheel_deceleration_ [private]

Definition at line 114 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::wheel_speed_tolerance_ [private]

Definition at line 115 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::wheel_torque_ [private]

Definition at line 121 of file gazebo_ros_tricycle_drive.h.

---

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

• gazebo_ros_tricycle_drive.h
• gazebo_ros_tricycle_drive.cpp