#include <gazebo_ros_kobuki.h>

Public Member Functions
	GazeboRosKobuki ()
	Constructor.
void	Load (physics::ModelPtr parent, sdf::ElementPtr sdf)
	Called when plugin is loaded.
void	OnUpdate ()
	Called by the world update start event.
	~GazeboRosKobuki ()
	Destructor.
Private Member Functions
void	cmdVelCB (const geometry_msgs::TwistConstPtr &msg)
	Callback for incoming velocity commands.
void	motorPowerCB (const kobuki_msgs::MotorPowerPtr &msg)
	Callback for incoming velocity commands.
bool	prepareBumper ()
bool	prepareCliffSensor ()
bool	prepareIMU ()
bool	prepareJointState ()
void	prepareMotorPower ()
void	prepareOdom ()
void	preparePublishTf ()
bool	prepareVelocityCommand ()
bool	prepareWheelAndTorque ()
void	propagateVelocityCommands ()
void	resetOdomCB (const std_msgs::EmptyConstPtr &msg)
	Callback for resetting the odometry data.
void	setupRosApi (std::string &model_name)
void	spin ()
	Spin method for the spinner thread.
void	updateBumper ()
void	updateCliffSensor ()
void	updateIMU ()
void	updateJointState ()
void	updateOdometry (common::Time &step_time)
Private Attributes
sensors::ContactSensorPtr	bumper_
	Pointer to bumper sensor simulating Kobuki's left, centre and right bumper sensors.
bool	bumper_center_is_pressed_
	Flag for left bumper's current state.
bool	bumper_center_was_pressed_
	Flag for center bumper's last state.
kobuki_msgs::BumperEvent	bumper_event_
	Kobuki ROS message for bumper event.
ros::Publisher	bumper_event_pub_
	ROS publisher for bumper events.
bool	bumper_left_is_pressed_
	Flag for left bumper's current state.
bool	bumper_left_was_pressed_
	Flag for left bumper's last state.
bool	bumper_right_is_pressed_
	Flag for left bumper's current state.
bool	bumper_right_was_pressed_
	Flag for right bumper's last state.
bool	cliff_detected_center_
	Cliff flag for the center sensor.
bool	cliff_detected_left_
	Cliff flag for the left sensor.
bool	cliff_detected_right_
	Cliff flag for the right sensor.
float	cliff_detection_threshold_
	measured distance in meter for detecting a cliff
kobuki_msgs::CliffEvent	cliff_event_
	Kobuki ROS message for cliff event.
ros::Publisher	cliff_event_pub_
	ROS publisher for cliff detection events.
sensors::RaySensorPtr	cliff_sensor_center_
	Pointer to frontal cliff sensor.
sensors::RaySensorPtr	cliff_sensor_left_
	Pointer to left cliff sensor.
sensors::RaySensorPtr	cliff_sensor_right_
	Pointer to left right sensor.
ros::Subscriber	cmd_vel_sub_
	ROS subscriber for velocity commands.
double	cmd_vel_timeout_
	Time out for velocity commands in seconds.
int	floot_dist_
	Maximum distance to floor.
GazeboRosPtr	gazebo_ros_
	pointer to the gazebo ros node
sensors::ImuSensorPtr	imu_
	Pointer to IMU sensor model.
sensor_msgs::Imu	imu_msg_
	ROS message for publishing IMU data.
ros::Publisher	imu_pub_
	ROS publisher for IMU data.
sensor_msgs::JointState	joint_state_
	ROS message for joint sates.
ros::Publisher	joint_state_pub_
	ROS publisher for joint state messages.
physics::JointPtr	joints_ [2]
	Pointers to Gazebo's joints.
common::Time	last_cmd_vel_time_
	Simulation time of the last velocity command (used for time out)
std::string	left_wheel_joint_name_
	Left wheel's joint name.
physics::ModelPtr	model_
	pointer to the model
ros::Subscriber	motor_power_sub_
	ROS subscriber for motor power commands.
bool	motors_enabled_
	Flag indicating if the motors are turned on or not.
ros::NodeHandle	nh_
	ROS node handles (relative & private)
ros::NodeHandle	nh_priv_
std::string	node_name_
	node name
nav_msgs::Odometry	odom_
	ROS message for odometry data.
double	odom_pose_ [3]
	Vector for pose.
ros::Publisher	odom_pub_
	ROS publisher for odometry messages.
ros::Subscriber	odom_reset_sub_
	ROS subscriber for reseting the odometry data.
geometry_msgs::TransformStamped	odom_tf_
	TF transform for the odom frame.
double	odom_vel_ [3]
	Vector for velocity.
double *	pose_cov_ [36]
	Pointer to pose covariance matrix.
common::Time	prev_update_time_
	Simulation time on previous update.
bool	publish_tf_
	Flag for (not) publish tf transform for odom -> robot.
std::string	right_wheel_joint_name_
	Right wheel's joint name.
sdf::ElementPtr	sdf_
bool	shutdown_requested_
	extra thread for triggering ROS callbacks
tf::TransformBroadcaster	tf_broadcaster_
	TF transform publisher for the odom frame.
std::string	tf_prefix_
	TF Prefix.
double	torque_
	Max. torque applied to the wheels.
double *	twist_cov_ [36]
	Pointer to twist covariance matrix.
event::ConnectionPtr	update_connection_
	pointer to the update event connection (triggers the OnUpdate callback when event update event is received)
math::Vector3	vel_angular_
	Storage for the angular velocity reported by the IMU.
double	wheel_diam_
	Diameter of the wheels.
double	wheel_sep_
	Separation between the wheels.
double	wheel_speed_cmd_ [2]
	Speeds of the wheels.
physics::WorldPtr	world_
	pointer to simulated world

Detailed Description

Definition at line 71 of file gazebo_ros_kobuki.h.

Constructor & Destructor Documentation

gazebo::GazeboRosKobuki::GazeboRosKobuki ( )

Constructor.

Definition at line 14 of file gazebo_ros_kobuki.cpp.

gazebo::GazeboRosKobuki::~GazeboRosKobuki ( )

Destructor.

Definition at line 24 of file gazebo_ros_kobuki.cpp.

Member Function Documentation

void gazebo::GazeboRosKobuki::cmdVelCB ( const geometry_msgs::TwistConstPtr & msg ) [private]

Callback for incoming velocity commands.

Definition at line 133 of file gazebo_ros_kobuki.cpp.

void gazebo::GazeboRosKobuki::Load	(	physics::ModelPtr	parent,
		sdf::ElementPtr	sdf
	)

Called when plugin is loaded.

Definition at line 35 of file gazebo_ros_kobuki.cpp.

void gazebo::GazeboRosKobuki::motorPowerCB ( const kobuki_msgs::MotorPowerPtr & msg ) [private]

Callback for incoming velocity commands.

Definition at line 119 of file gazebo_ros_kobuki.cpp.

void gazebo::GazeboRosKobuki::OnUpdate ( )

Called by the world update start event.

Definition at line 88 of file gazebo_ros_kobuki.cpp.

bool gazebo::GazeboRosKobuki::prepareBumper ( ) [private]

Definition at line 257 of file gazebo_ros_kobuki_loads.cpp.

bool gazebo::GazeboRosKobuki::prepareCliffSensor ( ) [private]

Definition at line 179 of file gazebo_ros_kobuki_loads.cpp.

bool gazebo::GazeboRosKobuki::prepareIMU ( ) [private]

Definition at line 284 of file gazebo_ros_kobuki_loads.cpp.

bool gazebo::GazeboRosKobuki::prepareJointState ( ) [private]

Definition at line 51 of file gazebo_ros_kobuki_loads.cpp.

void gazebo::GazeboRosKobuki::prepareMotorPower ( ) [private]

Definition at line 44 of file gazebo_ros_kobuki_loads.cpp.

void gazebo::GazeboRosKobuki::prepareOdom ( ) [private]

Definition at line 153 of file gazebo_ros_kobuki_loads.cpp.

void gazebo::GazeboRosKobuki::preparePublishTf ( ) [private]

Definition at line 96 of file gazebo_ros_kobuki_loads.cpp.

bool gazebo::GazeboRosKobuki::prepareVelocityCommand ( ) [private]

Definition at line 163 of file gazebo_ros_kobuki_loads.cpp.

bool gazebo::GazeboRosKobuki::prepareWheelAndTorque ( ) [private]

Definition at line 118 of file gazebo_ros_kobuki_loads.cpp.

void gazebo::GazeboRosKobuki::propagateVelocityCommands ( ) [private]

Definition at line 172 of file gazebo_ros_kobuki_updates.cpp.

void gazebo::GazeboRosKobuki::resetOdomCB ( const std_msgs::EmptyConstPtr & msg ) [private]

Callback for resetting the odometry data.

Definition at line 140 of file gazebo_ros_kobuki.cpp.

void gazebo::GazeboRosKobuki::setupRosApi ( std::string & model_name ) [private]

Definition at line 308 of file gazebo_ros_kobuki_loads.cpp.

void gazebo::GazeboRosKobuki::spin ( ) [private]

Spin method for the spinner thread.

Definition at line 110 of file gazebo_ros_kobuki.cpp.

void gazebo::GazeboRosKobuki::updateBumper ( ) [private]

Definition at line 264 of file gazebo_ros_kobuki_updates.cpp.

void gazebo::GazeboRosKobuki::updateCliffSensor ( ) [private]

Definition at line 189 of file gazebo_ros_kobuki_updates.cpp.

void gazebo::GazeboRosKobuki::updateIMU ( ) [private]

Definition at line 144 of file gazebo_ros_kobuki_updates.cpp.

void gazebo::GazeboRosKobuki::updateJointState ( ) [private]

Definition at line 42 of file gazebo_ros_kobuki_updates.cpp.

void gazebo::GazeboRosKobuki::updateOdometry ( common::Time & step_time ) [private]

Definition at line 60 of file gazebo_ros_kobuki_updates.cpp.

Member Data Documentation

sensors::ContactSensorPtr gazebo::GazeboRosKobuki::bumper_ [private]

Pointer to bumper sensor simulating Kobuki's left, centre and right bumper sensors.

Definition at line 211 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::bumper_center_is_pressed_ [private]

Flag for left bumper's current state.

Definition at line 225 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::bumper_center_was_pressed_ [private]

Flag for center bumper's last state.

Definition at line 219 of file gazebo_ros_kobuki.h.

kobuki_msgs::BumperEvent gazebo::GazeboRosKobuki::bumper_event_ [private]

Kobuki ROS message for bumper event.

Definition at line 215 of file gazebo_ros_kobuki.h.

ros::Publisher gazebo::GazeboRosKobuki::bumper_event_pub_ [private]

ROS publisher for bumper events.

Definition at line 213 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::bumper_left_is_pressed_ [private]

Flag for left bumper's current state.

Definition at line 223 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::bumper_left_was_pressed_ [private]

Flag for left bumper's last state.

Definition at line 217 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::bumper_right_is_pressed_ [private]

Flag for left bumper's current state.

Definition at line 227 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::bumper_right_was_pressed_ [private]

Flag for right bumper's last state.

Definition at line 221 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::cliff_detected_center_ [private]

Cliff flag for the center sensor.

Definition at line 203 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::cliff_detected_left_ [private]

Cliff flag for the left sensor.

Definition at line 201 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::cliff_detected_right_ [private]

Cliff flag for the right sensor.

Definition at line 205 of file gazebo_ros_kobuki.h.

float gazebo::GazeboRosKobuki::cliff_detection_threshold_ [private]

measured distance in meter for detecting a cliff

Definition at line 207 of file gazebo_ros_kobuki.h.

kobuki_msgs::CliffEvent gazebo::GazeboRosKobuki::cliff_event_ [private]

Kobuki ROS message for cliff event.

Definition at line 199 of file gazebo_ros_kobuki.h.

ros::Publisher gazebo::GazeboRosKobuki::cliff_event_pub_ [private]

ROS publisher for cliff detection events.

Definition at line 197 of file gazebo_ros_kobuki.h.

sensors::RaySensorPtr gazebo::GazeboRosKobuki::cliff_sensor_center_ [private]

Pointer to frontal cliff sensor.

Definition at line 193 of file gazebo_ros_kobuki.h.

sensors::RaySensorPtr gazebo::GazeboRosKobuki::cliff_sensor_left_ [private]

Pointer to left cliff sensor.

Definition at line 191 of file gazebo_ros_kobuki.h.

sensors::RaySensorPtr gazebo::GazeboRosKobuki::cliff_sensor_right_ [private]

Pointer to left right sensor.

Definition at line 195 of file gazebo_ros_kobuki.h.

ros::Subscriber gazebo::GazeboRosKobuki::cmd_vel_sub_ [private]

ROS subscriber for velocity commands.

Definition at line 159 of file gazebo_ros_kobuki.h.

double gazebo::GazeboRosKobuki::cmd_vel_timeout_ [private]

Time out for velocity commands in seconds.

Definition at line 163 of file gazebo_ros_kobuki.h.

int gazebo::GazeboRosKobuki::floot_dist_ [private]

Maximum distance to floor.

Definition at line 209 of file gazebo_ros_kobuki.h.

GazeboRosPtr gazebo::GazeboRosKobuki::gazebo_ros_ [private]

pointer to the gazebo ros node

Definition at line 136 of file gazebo_ros_kobuki.h.

sensors::ImuSensorPtr gazebo::GazeboRosKobuki::imu_ [private]

Pointer to IMU sensor model.

Definition at line 229 of file gazebo_ros_kobuki.h.

sensor_msgs::Imu gazebo::GazeboRosKobuki::imu_msg_ [private]

ROS message for publishing IMU data.

Definition at line 235 of file gazebo_ros_kobuki.h.

ros::Publisher gazebo::GazeboRosKobuki::imu_pub_ [private]

ROS publisher for IMU data.

Definition at line 233 of file gazebo_ros_kobuki.h.

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

ROS message for joint sates.

Definition at line 157 of file gazebo_ros_kobuki.h.

ros::Publisher gazebo::GazeboRosKobuki::joint_state_pub_ [private]

ROS publisher for joint state messages.

Definition at line 155 of file gazebo_ros_kobuki.h.

physics::JointPtr gazebo::GazeboRosKobuki::joints_[2] [private]

Pointers to Gazebo's joints.

Definition at line 149 of file gazebo_ros_kobuki.h.

common::Time gazebo::GazeboRosKobuki::last_cmd_vel_time_ [private]

Simulation time of the last velocity command (used for time out)

Definition at line 161 of file gazebo_ros_kobuki.h.

std::string gazebo::GazeboRosKobuki::left_wheel_joint_name_ [private]

Left wheel's joint name.

Definition at line 151 of file gazebo_ros_kobuki.h.

physics::ModelPtr gazebo::GazeboRosKobuki::model_ [private]

pointer to the model

Definition at line 134 of file gazebo_ros_kobuki.h.

ros::Subscriber gazebo::GazeboRosKobuki::motor_power_sub_ [private]

ROS subscriber for motor power commands.

Definition at line 145 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::motors_enabled_ [private]

Flag indicating if the motors are turned on or not.

Definition at line 147 of file gazebo_ros_kobuki.h.

ros::NodeHandle gazebo::GazeboRosKobuki::nh_ [private]

ROS node handles (relative & private)

Definition at line 123 of file gazebo_ros_kobuki.h.

ros::NodeHandle gazebo::GazeboRosKobuki::nh_priv_ [private]

Definition at line 123 of file gazebo_ros_kobuki.h.

std::string gazebo::GazeboRosKobuki::node_name_ [private]

node name

Definition at line 125 of file gazebo_ros_kobuki.h.

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

ROS message for odometry data.

Definition at line 183 of file gazebo_ros_kobuki.h.

double gazebo::GazeboRosKobuki::odom_pose_[3] [private]

Vector for pose.

Definition at line 173 of file gazebo_ros_kobuki.h.

ros::Publisher gazebo::GazeboRosKobuki::odom_pub_ [private]

ROS publisher for odometry messages.

Definition at line 181 of file gazebo_ros_kobuki.h.

ros::Subscriber gazebo::GazeboRosKobuki::odom_reset_sub_ [private]

ROS subscriber for reseting the odometry data.

Definition at line 237 of file gazebo_ros_kobuki.h.

geometry_msgs::TransformStamped gazebo::GazeboRosKobuki::odom_tf_ [private]

TF transform for the odom frame.

Definition at line 189 of file gazebo_ros_kobuki.h.

double gazebo::GazeboRosKobuki::odom_vel_[3] [private]

Vector for velocity.

Definition at line 175 of file gazebo_ros_kobuki.h.

double* gazebo::GazeboRosKobuki::pose_cov_[36] [private]

Pointer to pose covariance matrix.

Definition at line 177 of file gazebo_ros_kobuki.h.

common::Time gazebo::GazeboRosKobuki::prev_update_time_ [private]

Simulation time on previous update.

Definition at line 143 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::publish_tf_ [private]

Flag for (not) publish tf transform for odom -> robot.

Definition at line 185 of file gazebo_ros_kobuki.h.

std::string gazebo::GazeboRosKobuki::right_wheel_joint_name_ [private]

Right wheel's joint name.

Definition at line 153 of file gazebo_ros_kobuki.h.

sdf::ElementPtr gazebo::GazeboRosKobuki::sdf_ [private]

Definition at line 137 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::shutdown_requested_ [private]

extra thread for triggering ROS callbacks

flag for shutting down the spinner thread

Definition at line 132 of file gazebo_ros_kobuki.h.

tf::TransformBroadcaster gazebo::GazeboRosKobuki::tf_broadcaster_ [private]

TF transform publisher for the odom frame.

Definition at line 187 of file gazebo_ros_kobuki.h.

std::string gazebo::GazeboRosKobuki::tf_prefix_ [private]

TF Prefix.

Definition at line 128 of file gazebo_ros_kobuki.h.

double gazebo::GazeboRosKobuki::torque_ [private]

Max. torque applied to the wheels.

Definition at line 167 of file gazebo_ros_kobuki.h.

double* gazebo::GazeboRosKobuki::twist_cov_[36] [private]

Pointer to twist covariance matrix.

Definition at line 179 of file gazebo_ros_kobuki.h.

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

pointer to the update event connection (triggers the OnUpdate callback when event update event is received)

Definition at line 141 of file gazebo_ros_kobuki.h.

math::Vector3 gazebo::GazeboRosKobuki::vel_angular_ [private]

Storage for the angular velocity reported by the IMU.

Definition at line 231 of file gazebo_ros_kobuki.h.

double gazebo::GazeboRosKobuki::wheel_diam_ [private]

Diameter of the wheels.

Definition at line 171 of file gazebo_ros_kobuki.h.

double gazebo::GazeboRosKobuki::wheel_sep_ [private]

Separation between the wheels.

Definition at line 169 of file gazebo_ros_kobuki.h.

double gazebo::GazeboRosKobuki::wheel_speed_cmd_[2] [private]

Speeds of the wheels.

Definition at line 165 of file gazebo_ros_kobuki.h.

physics::WorldPtr gazebo::GazeboRosKobuki::world_ [private]

pointer to simulated world

Definition at line 139 of file gazebo_ros_kobuki.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation