gazebo::GazeboRosControllerManager Class Reference

#include <gazebo_ros_controller_manager.h>

List of all members.

Public Member Functions
	GazeboRosControllerManager ()
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
virtual	~GazeboRosControllerManager ()
	callback for setting models joints states
Protected Member Functions
virtual void	UpdateChild ()
Protected Attributes
boost::shared_ptr < shadow_robot::SrSelfTest >	self_test_
Private Member Functions
void	ControllerManagerROSThread ()
void	ReadPr2Xml ()
	Service Call Name.
Private Attributes
pr2_controller_manager::ControllerManager *	cm_
bool	fake_calibration_
pr2_mechanism_model::RobotState *	fake_state_
pr2_hardware_interface::HardwareInterface	hw_
std::vector < gazebo::physics::JointPtr >	joints_
transport::NodePtr	node
gazebo::physics::ModelPtr	parent_model_
std::string	robotNamespace
std::string	robotParam
	set topic name of robot description parameter
boost::thread	ros_spinner_thread_
ros::NodeHandle *	rosnode_
ros::ServiceServer	setModelsJointsStatesService
	ros service
double	sim_start_
common::Time	simTime
transport::SubscriberPtr	statsSub
event::ConnectionPtr	updateConnection
double	wall_start_
physics::WorldPtr	world

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Detailed Description

Definition at line 59 of file gazebo_ros_controller_manager.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosControllerManager::GazeboRosControllerManager

(

)

Definition at line 57 of file gazebo_ros_controller_manager.cpp.

gazebo::GazeboRosControllerManager::~GazeboRosControllerManager

(

)

[virtual]

callback for setting models joints states

Definition at line 71 of file gazebo_ros_controller_manager.cpp.

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Member Function Documentation

void gazebo::GazeboRosControllerManager::ControllerManagerROSThread

(

)

[private]

Definition at line 429 of file gazebo_ros_controller_manager.cpp.

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

Definition at line 102 of file gazebo_ros_controller_manager.cpp.

void gazebo::GazeboRosControllerManager::ReadPr2Xml

(

)

[private]

Service Call Name.

Definition at line 342 of file gazebo_ros_controller_manager.cpp.

void gazebo::GazeboRosControllerManager::UpdateChild

(

)

[protected, virtual]

Definition at line 215 of file gazebo_ros_controller_manager.cpp.

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Member Data Documentation

pr2_controller_manager::ControllerManager* gazebo::GazeboRosControllerManager::cm_ [private]

Definition at line 75 of file gazebo_ros_controller_manager.h.

bool gazebo::GazeboRosControllerManager::fake_calibration_ [private]

Definition at line 116 of file gazebo_ros_controller_manager.h.

pr2_mechanism_model::RobotState* gazebo::GazeboRosControllerManager::fake_state_ [private]

Todo:

The fake state helps Gazebo run the transmissions backwards, so that it can figure out what its joints should do based on the actuator values.

Definition at line 80 of file gazebo_ros_controller_manager.h.

pr2_hardware_interface::HardwareInterface gazebo::GazeboRosControllerManager::hw_ [private]

Definition at line 74 of file gazebo_ros_controller_manager.h.

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

Definition at line 81 of file gazebo_ros_controller_manager.h.

transport::NodePtr gazebo::GazeboRosControllerManager::node [private]

Definition at line 133 of file gazebo_ros_controller_manager.h.

gazebo::physics::ModelPtr gazebo::GazeboRosControllerManager::parent_model_ [private]

Definition at line 73 of file gazebo_ros_controller_manager.h.

std::string gazebo::GazeboRosControllerManager::robotNamespace [private]

Definition at line 114 of file gazebo_ros_controller_manager.h.

std::string gazebo::GazeboRosControllerManager::robotParam [private]

set topic name of robot description parameter

Definition at line 113 of file gazebo_ros_controller_manager.h.

boost::thread gazebo::GazeboRosControllerManager::ros_spinner_thread_ [private]

Definition at line 124 of file gazebo_ros_controller_manager.h.

ros::NodeHandle* gazebo::GazeboRosControllerManager::rosnode_ [private]

Definition at line 95 of file gazebo_ros_controller_manager.h.

boost::shared_ptr<shadow_robot::SrSelfTest> gazebo::GazeboRosControllerManager::self_test_ [protected]

Definition at line 70 of file gazebo_ros_controller_manager.h.

ros::ServiceServer gazebo::GazeboRosControllerManager::setModelsJointsStatesService [private]

ros service

Definition at line 98 of file gazebo_ros_controller_manager.h.

double gazebo::GazeboRosControllerManager::sim_start_ [private]

Definition at line 108 of file gazebo_ros_controller_manager.h.

common::Time gazebo::GazeboRosControllerManager::simTime [private]

Definition at line 135 of file gazebo_ros_controller_manager.h.

transport::SubscriberPtr gazebo::GazeboRosControllerManager::statsSub [private]

Definition at line 134 of file gazebo_ros_controller_manager.h.

event::ConnectionPtr gazebo::GazeboRosControllerManager::updateConnection [private]

Definition at line 130 of file gazebo_ros_controller_manager.h.

double gazebo::GazeboRosControllerManager::wall_start_ [private]

ros service callback

Definition at line 108 of file gazebo_ros_controller_manager.h.

physics::WorldPtr gazebo::GazeboRosControllerManager::world [private]

Definition at line 127 of file gazebo_ros_controller_manager.h.

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

• gazebo_ros_controller_manager.h
• gazebo_ros_controller_manager.cpp