Public Member Functions | Protected Member Functions | Private Types | Private Member Functions | Private Attributes
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)
void Reset ()
 ~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_

Detailed Description

Definition at line 73 of file gazebo_ros_diff_drive.h.


Member Enumeration Documentation

Enumerator:
ENCODER 
WORLD 

Definition at line 75 of file gazebo_ros_diff_drive.h.


Constructor & Destructor Documentation

Definition at line 68 of file gazebo_ros_diff_drive.cpp.

Definition at line 71 of file gazebo_ros_diff_drive.cpp.


Member Function Documentation

void gazebo::GazeboRosDiffDrive::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr &  cmd_msg) [private]

Definition at line 324 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::FiniChild ( ) [protected, virtual]

Definition at line 304 of file gazebo_ros_diff_drive.cpp.

Definition at line 313 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 386 of file gazebo_ros_diff_drive.cpp.

publishes the wheel tf's

Definition at line 191 of file gazebo_ros_diff_drive.cpp.

Definition at line 208 of file gazebo_ros_diff_drive.cpp.

Definition at line 331 of file gazebo_ros_diff_drive.cpp.

Definition at line 174 of file gazebo_ros_diff_drive.cpp.

void gazebo::GazeboRosDiffDrive::UpdateChild ( ) [protected, virtual]

Definition at line 228 of file gazebo_ros_diff_drive.cpp.

Definition at line 340 of file gazebo_ros_diff_drive.cpp.


Member Data Documentation

Definition at line 138 of file gazebo_ros_diff_drive.h.

Definition at line 130 of file gazebo_ros_diff_drive.h.

Definition at line 113 of file gazebo_ros_diff_drive.h.

Definition at line 123 of file gazebo_ros_diff_drive.h.

Definition at line 98 of file gazebo_ros_diff_drive.h.

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

Definition at line 115 of file gazebo_ros_diff_drive.h.

Definition at line 116 of file gazebo_ros_diff_drive.h.

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

Definition at line 109 of file gazebo_ros_diff_drive.h.

Definition at line 147 of file gazebo_ros_diff_drive.h.

Definition at line 143 of file gazebo_ros_diff_drive.h.

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

Definition at line 120 of file gazebo_ros_diff_drive.h.

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

Definition at line 117 of file gazebo_ros_diff_drive.h.

Definition at line 145 of file gazebo_ros_diff_drive.h.

Definition at line 125 of file gazebo_ros_diff_drive.h.

Definition at line 112 of file gazebo_ros_diff_drive.h.

Definition at line 124 of file gazebo_ros_diff_drive.h.

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

Definition at line 99 of file gazebo_ros_diff_drive.h.

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

Definition at line 146 of file gazebo_ros_diff_drive.h.

Definition at line 127 of file gazebo_ros_diff_drive.h.

Definition at line 151 of file gazebo_ros_diff_drive.h.

Definition at line 150 of file gazebo_ros_diff_drive.h.

Definition at line 129 of file gazebo_ros_diff_drive.h.

Definition at line 126 of file gazebo_ros_diff_drive.h.

Definition at line 122 of file gazebo_ros_diff_drive.h.

Definition at line 137 of file gazebo_ros_diff_drive.h.

Definition at line 118 of file gazebo_ros_diff_drive.h.

Definition at line 114 of file gazebo_ros_diff_drive.h.

Definition at line 100 of file gazebo_ros_diff_drive.h.

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Definition at line 141 of file gazebo_ros_diff_drive.h.

Definition at line 106 of file gazebo_ros_diff_drive.h.

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Definition at line 102 of file gazebo_ros_diff_drive.h.

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Definition at line 104 of file gazebo_ros_diff_drive.h.

Definition at line 136 of file gazebo_ros_diff_drive.h.


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


gazebo_plugins
Author(s): John Hsu
autogenerated on Thu Jun 6 2019 18:41:10