Classes | Public Member Functions | Public Attributes | Protected Member Functions | Static Protected Member Functions | Protected Attributes
MVSimNode Class Reference

#include <mvsim_node_core.h>

List of all members.

Classes

struct  MVSimVisitor_notifyROSWorldIsUpdated
class  MyWorld
struct  TPubSubPerVehicle
struct  TThreadParams

Public Member Functions

void configCallback (mvsim::mvsimNodeConfig &config, uint32_t level)
void loadWorldModel (const std::string &world_xml_file)
 MVSimNode (ros::NodeHandle &n)
void spin ()
 Process pending msgs, run real-time simulation, etc.
 ~MVSimNode ()

Public Attributes

int gui_refresh_period_ms_
 Default:25.
bool m_do_fake_localization
bool m_show_gui
 Default= true.
double m_transform_tolerance
MyWorld mvsim_world_
double realtime_factor_
 everything: vehicles, obstacles, etc.)

Protected Member Functions

void initPubSubs (TPubSubPerVehicle &out_pubsubs, mvsim::VehicleBase *veh)
void notifyROSWorldIsUpdated ()
void onROSMsgCmdVel (const geometry_msgs::Twist::ConstPtr &cmd, mvsim::VehicleBase *veh)
void sendStaticTF (const std::string &frame_id, const std::string &child_frame_id, const tf::Transform &tx, const ros::Time &stamp)
void spinNotifyROS ()
std::string vehVarName (const std::string &sVarName, const mvsim::VehicleBase *veh) const

Static Protected Member Functions

static void thread_update_GUI (TThreadParams &thread_params)

Protected Attributes

ros::Time m_base_last_cmd
 Last time we received a vel_cmd (for watchdog)
ros::Duration m_base_watchdog_timeout
rosgraph_msgs::Clock m_clockMsg
mvsim::World::TGUIKeyEvent m_gui_key_events
 "focused" vehicle)
ros::NodeHandle m_localn
std::string m_msg2gui
ros::NodeHandlem_n
 published TFs
double m_period_ms_publish_tf
 loadWorldModel()
double m_period_ms_teleop_refresh
ros::Publisher m_pub_clock
ros::Publisher m_pub_map_metadata
 used for simul_map publication
ros::Publisher m_pub_map_ros
std::vector< TPubSubPerVehiclem_pubsub_vehicles
ros::Time m_sim_time
 Current simulation time.
tf2_ros::StaticTransformBroadcaster m_static_tf_br
 For sending STATIC tf.
size_t m_teleop_idx_veh
tf::TransformBroadcaster m_tf_br
 Use to send data to TF.
const tf::Transform m_tfIdentity
 Unit transform (const, created only once)
mrpt::utils::CTicTac m_tim_publish_tf
 TF transforms & /*/odom topics (In ms)
mrpt::utils::CTicTac m_tim_teleop_refresh
mrpt::utils::CTicTac realtime_tictac_
double t_old_
std::thread thGUI_
TThreadParams thread_params_
bool world_init_ok_

Detailed Description

A class to wrap libmvsim as a ROS node

Definition at line 36 of file mvsim_node_core.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 29 of file mvsim_node.cpp.

Destructor.

Definition at line 103 of file mvsim_node.cpp.


Member Function Documentation

void MVSimNode::configCallback ( mvsim::mvsimNodeConfig &  config,
uint32_t  level 
)

Callback function for dynamic reconfigure server

Definition at line 113 of file mvsim_node.cpp.

void MVSimNode::initPubSubs ( TPubSubPerVehicle pubsubs,
mvsim::VehicleBase veh 
) [protected]

initPubSubs(), called from notifyROSWorldIsUpdated() Initialize all pub/subs required for each vehicle, for the specific vehicle veh

Initialize all pub/subs required for each vehicle, for the specific vehicle veh

Definition at line 326 of file mvsim_node.cpp.

void MVSimNode::loadWorldModel ( const std::string &  world_xml_file)

Definition at line 80 of file mvsim_node.cpp.

void MVSimNode::notifyROSWorldIsUpdated ( ) [protected]

Publish relevant stuff whenever a new world model is loaded (grid maps, etc.)

Definition at line 288 of file mvsim_node.cpp.

void MVSimNode::onROSMsgCmdVel ( const geometry_msgs::Twist::ConstPtr &  cmd,
mvsim::VehicleBase veh 
) [protected]

Definition at line 454 of file mvsim_node.cpp.

void MVSimNode::sendStaticTF ( const std::string &  frame_id,
const std::string &  child_frame_id,
const tf::Transform tx,
const ros::Time stamp 
) [protected]

Definition at line 312 of file mvsim_node.cpp.

void MVSimNode::spin ( )

Process pending msgs, run real-time simulation, etc.

Definition at line 125 of file mvsim_node.cpp.

void MVSimNode::spinNotifyROS ( ) [protected]

Publish everything to be published at each simulation iteration

Definition at line 472 of file mvsim_node.cpp.

void MVSimNode::thread_update_GUI ( TThreadParams thread_params) [static, protected]

Definition at line 231 of file mvsim_node.cpp.

std::string MVSimNode::vehVarName ( const std::string &  sVarName,
const mvsim::VehicleBase veh 
) const [protected]

Creates the string "/<VEH_NAME>/<VAR_NAME>" if there're more than one vehicle in the World, or "/<VAR_NAME>" otherwise.

Definition at line 722 of file mvsim_node.cpp.


Member Data Documentation

Default:25.

Definition at line 67 of file mvsim_node_core.h.

Last time we received a vel_cmd (for watchdog)

Definition at line 123 of file mvsim_node_core.h.

Definition at line 124 of file mvsim_node_core.h.

rosgraph_msgs::Clock MVSimNode::m_clockMsg [protected]

Definition at line 120 of file mvsim_node_core.h.

Default=true. Behaves as

Definition at line 69 of file mvsim_node_core.h.

"focused" vehicle)

Definition at line 152 of file mvsim_node_core.h.

Definition at line 78 of file mvsim_node_core.h.

std::string MVSimNode::m_msg2gui [protected]

Definition at line 153 of file mvsim_node_core.h.

published TFs

Definition at line 77 of file mvsim_node_core.h.

loadWorldModel()

Minimum period between publication of

Definition at line 141 of file mvsim_node_core.h.

Minimum period between update of

Definition at line 145 of file mvsim_node_core.h.

Definition at line 83 of file mvsim_node_core.h.

used for simul_map publication

Definition at line 81 of file mvsim_node_core.h.

Definition at line 81 of file mvsim_node_core.h.

Pubs/Subs for each vehicle. Initialized by

Definition at line 105 of file mvsim_node_core.h.

Default= true.

Definition at line 68 of file mvsim_node_core.h.

Current simulation time.

Definition at line 121 of file mvsim_node_core.h.

For sending STATIC tf.

Definition at line 86 of file mvsim_node_core.h.

size_t MVSimNode::m_teleop_idx_veh [protected]

for teleoperation from the GUI (selects the

Definition at line 150 of file mvsim_node_core.h.

Use to send data to TF.

Definition at line 84 of file mvsim_node_core.h.

Unit transform (const, created only once)

Definition at line 126 of file mvsim_node_core.h.

mrpt::utils::CTicTac MVSimNode::m_tim_publish_tf [protected]

TF transforms & /*/odom topics (In ms)

Definition at line 143 of file mvsim_node_core.h.

mrpt::utils::CTicTac MVSimNode::m_tim_teleop_refresh [protected]

live info & read of teleop key strokes in GUI (In ms)

Definition at line 148 of file mvsim_node_core.h.

navigation/fake_localization for each vehicle without the need to launch additional nodes. (Default=0.1) Time tolerance for

Definition at line 73 of file mvsim_node_core.h.

The mvsim library simulated world (includes

Definition at line 63 of file mvsim_node_core.h.

everything: vehicles, obstacles, etc.)

(Defaul=1.0) >1: speed-up, <1: slow-down

Definition at line 66 of file mvsim_node_core.h.

mrpt::utils::CTicTac MVSimNode::realtime_tictac_ [protected]

Definition at line 135 of file mvsim_node_core.h.

double MVSimNode::t_old_ [protected]

Definition at line 137 of file mvsim_node_core.h.

std::thread MVSimNode::thGUI_ [protected]

Definition at line 155 of file mvsim_node_core.h.

Definition at line 134 of file mvsim_node_core.h.

bool MVSimNode::world_init_ok_ [protected]

will be true after a success call to

Definition at line 138 of file mvsim_node_core.h.


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


mvsim
Author(s):
autogenerated on Thu Jun 6 2019 22:08:35