gazebo::GazeboRosHarness Class Reference

See the Gazebo documentation about the HarnessPlugin. This ROS wrapper exposes two topics: More...

#include <gazebo_ros_harness.h>

List of all members.

Public Member Functions
	GazeboRosHarness ()
	Constructor.
virtual void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin.
virtual	~GazeboRosHarness ()
	Destructor.
Private Member Functions
virtual void	OnDetach (const std_msgs::Bool::ConstPtr &msg)
	Receive detach messages.
virtual void	OnVelocity (const std_msgs::Float32::ConstPtr &msg)
	Receive winch velocity control messages.
void	QueueThread ()
	Custom callback queue thread.
Private Attributes
boost::thread	callbackQueueThread_
ros::Subscriber	detachSub_
	Subscriber to detach control messages.
ros::CallbackQueue	queue_
std::string	robotNamespace_
	for setting ROS name space
ros::NodeHandle *	rosnode_
	pointer to ros node
ros::Subscriber	velocitySub_
	Subscriber to velocity control messages.

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Detailed Description

See the Gazebo documentation about the HarnessPlugin. This ROS wrapper exposes two topics:

1. /<plugin_model_name>/harness/velocity

• Message Type: std_msgs::Float32
• Purpose: Set target winch velocity

2. /<plugin_model_name>/harness/detach

• Message Type: std_msgs::Bool
• Purpose: Detach the <detach> joint.

Definition at line 42 of file gazebo_ros_harness.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosHarness::GazeboRosHarness

(

)

Constructor.

Definition at line 30 of file gazebo_ros_harness.cpp.

gazebo::GazeboRosHarness::~GazeboRosHarness

(

)

[virtual]

Destructor.

Definition at line 35 of file gazebo_ros_harness.cpp.

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Member Function Documentation

void gazebo::GazeboRosHarness::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)		[virtual]

Load the plugin.

Definition at line 47 of file gazebo_ros_harness.cpp.

void gazebo::GazeboRosHarness::OnDetach

(

const std_msgs::Bool::ConstPtr &

msg

)

[private, virtual]

Receive detach messages.

Parameters:

[in]

msg

Boolean detach message. Detach joints if data is true.

Definition at line 92 of file gazebo_ros_harness.cpp.

void gazebo::GazeboRosHarness::OnVelocity

(

const std_msgs::Float32::ConstPtr &

msg

)

[private, virtual]

Receive winch velocity control messages.

Parameters:

[in]

msg

Float message that is the target winch velocity.

Definition at line 85 of file gazebo_ros_harness.cpp.

void gazebo::GazeboRosHarness::QueueThread

(

)

[private]

Custom callback queue thread.

Definition at line 100 of file gazebo_ros_harness.cpp.

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Member Data Documentation

boost::thread gazebo::GazeboRosHarness::callbackQueueThread_ [private]

Definition at line 77 of file gazebo_ros_harness.h.

ros::Subscriber gazebo::GazeboRosHarness::detachSub_ [private]

Subscriber to detach control messages.

Definition at line 72 of file gazebo_ros_harness.h.

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

Definition at line 76 of file gazebo_ros_harness.h.

std::string gazebo::GazeboRosHarness::robotNamespace_ [private]

for setting ROS name space

Definition at line 75 of file gazebo_ros_harness.h.

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

pointer to ros node

Definition at line 66 of file gazebo_ros_harness.h.

ros::Subscriber gazebo::GazeboRosHarness::velocitySub_ [private]

Subscriber to velocity control messages.

Definition at line 69 of file gazebo_ros_harness.h.

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

• gazebo_ros_harness.h
• gazebo_ros_harness.cpp