This plugin is used to create rosbag files from within gazebo. More...

#include <gazebo_bag_plugin.h>

Public Member Functions
	GazeboBagPlugin ()
virtual	~GazeboBagPlugin ()
Protected Member Functions
void	ActuatorsCallback (const mav_msgs::ActuatorsConstPtr &control_msg)
	Called when a Actuators message is received.
void	AttitudeThrustCallback (const mav_msgs::AttitudeThrustConstPtr &control_msg)
	Called when a AttitudeThrust message is received.
void	CommandPoseCallback (const geometry_msgs::PoseStampedConstPtr &pose_msg)
	Called when a PoseStamped message is received.
void	ExternalForceCallback (const geometry_msgs::WrenchStampedConstPtr &force_msg)
	Called when an WrenchStamped message is received.
void	ImuCallback (const sensor_msgs::ImuConstPtr &imu_msg)
	Called when an IMU message is received.
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Load the plugin.
void	LogGroundTruth (const common::Time now)
	Log the ground truth pose and twist.
void	LogMotorVelocities (const common::Time now)
	Log all the motor velocities.
void	LogWrenches (const common::Time now)
	Log all the wrenches.
void	OnUpdate (const common::UpdateInfo &)
	Called when the world is updated.
void	RateThrustCallback (const mav_msgs::RateThrustConstPtr &control_msg)
	Called when a RateThrust message is received.
bool	RecordingServiceCallback (rotors_comm::RecordRosbag::Request &req, rotors_comm::RecordRosbag::Response &res)
	Called when a request to start or stop recording is received.
void	StartRecording ()
	Starting recording the rosbag.
void	StopRecording ()
	Stop recording the rosbag.
void	WaypointCallback (const trajectory_msgs::MultiDOFJointTrajectoryConstPtr &trajectory_msg)
	Called when a MultiDOFJointTrajectoryPoint message is received.
void	WindSpeedCallback (const rotors_comm::WindSpeedConstPtr &wind_speed_msg)
	Called when a WindSpeed message is received.
Private Types
typedef std::map< const unsigned int, const physics::JointPtr >	MotorNumberToJointMap
typedef std::pair< const unsigned int, const physics::JointPtr >	MotorNumberToJointPair
Private Member Functions
template<class T >
void	writeBag (const std::string &topic, const ros::Time &time, const T &msg)
template<class T >
void	writeBag (const std::string &topic, const ros::Time &time, boost::shared_ptr< T const > const &msg)
Private Attributes
rosbag::Bag	bag_
std::string	bag_filename_
physics::Link_V	child_links_
ros::Subscriber	command_pose_sub_
std::string	command_pose_topic_
physics::ContactManager *	contact_mgr_
	Pointer to the ContactManager to get all collisions of this link and its children.
ros::Subscriber	control_attitude_thrust_sub_
std::string	control_attitude_thrust_topic_
ros::Subscriber	control_motor_speed_sub_
std::string	control_motor_speed_topic_
ros::Subscriber	control_rate_thrust_sub_
std::string	control_rate_thrust_topic_
std::ofstream	csvOut
ros::Subscriber	external_force_sub_
std::string	external_force_topic_
std::string	frame_id_
std::string	ground_truth_pose_topic_
std::string	ground_truth_twist_topic_
ros::Subscriber	imu_sub_
std::string	imu_topic_
bool	is_recording_
	Whether the plugin is currenly recording a rosbag.
physics::LinkPtr	link_
std::string	link_name_
physics::ModelPtr	model_
MotorNumberToJointMap	motor_joints_
std::string	motor_topic_
boost::mutex	mtx_
	Mutex lock for thread safety of writing bag files.
std::string	namespace_
ros::NodeHandle *	node_handle_
ros::ServiceServer	recording_service_
std::string	recording_service_name_
double	rotor_velocity_slowdown_sim_
event::ConnectionPtr	update_connection_
	Pointer to the update event connection.
bool	wait_to_record_
	Whether the plugin should wait for user command to start recording.
ros::Subscriber	waypoint_sub_
std::string	waypoint_topic_
ros::Subscriber	wind_speed_sub_
std::string	wind_speed_topic_
physics::WorldPtr	world_
std::string	wrench_topic_

Detailed Description

This plugin is used to create rosbag files from within gazebo.

This plugin is ROS dependent, and is not built if NO_ROS=TRUE is provided to CMakeLists.txt (as in the case of a PX4/Firmware build).

Definition at line 64 of file gazebo_bag_plugin.h.

Member Typedef Documentation

typedef std::map<const unsigned int, const physics::JointPtr> gazebo::GazeboBagPlugin::MotorNumberToJointMap [private]

Definition at line 65 of file gazebo_bag_plugin.h.

typedef std::pair<const unsigned int, const physics::JointPtr> gazebo::GazeboBagPlugin::MotorNumberToJointPair [private]

Definition at line 66 of file gazebo_bag_plugin.h.

Constructor & Destructor Documentation

gazebo::GazeboBagPlugin::GazeboBagPlugin ( ) [inline]

Definition at line 68 of file gazebo_bag_plugin.h.

gazebo::GazeboBagPlugin::~GazeboBagPlugin ( ) [virtual]

Definition at line 30 of file gazebo_bag_plugin.cpp.

Member Function Documentation

void gazebo::GazeboBagPlugin::ActuatorsCallback ( const mav_msgs::ActuatorsConstPtr & control_msg ) [protected]

Called when a Actuators message is received.

Parameters:

[in] control_msg A Actuators message from mav_msgs.

Definition at line 293 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::AttitudeThrustCallback ( const mav_msgs::AttitudeThrustConstPtr & control_msg ) [protected]

Called when a AttitudeThrust message is received.

Parameters:

[in] control_msg A AttitudeThrust message from mav_msgs.

Definition at line 285 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::CommandPoseCallback ( const geometry_msgs::PoseStampedConstPtr & pose_msg ) [protected]

Called when a PoseStamped message is received.

Parameters:

[in] pose_msg A PoseStamped message from geometry_msgs.

Definition at line 278 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::ExternalForceCallback ( const geometry_msgs::WrenchStampedConstPtr & force_msg ) [protected]

Called when an WrenchStamped message is received.

Parameters:

[in] force_msg A WrenchStamped message from geometry_msgs.

Definition at line 264 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::ImuCallback ( const sensor_msgs::ImuConstPtr & imu_msg ) [protected]

Called when an IMU message is received.

Parameters:

[in] imu_msg A IMU message from sensor_msgs.

Definition at line 258 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)		`[protected]`

Load the plugin.

Parameters:

[in]	_model	Pointer to the model that loaded this plugin.
[in]	_sdf	SDF element that describes the plugin.

Definition at line 39 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::LogGroundTruth ( const common::Time now ) [protected]

Log the ground truth pose and twist.

Parameters:

[in] now The current gazebo common::Time

Definition at line 332 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::LogMotorVelocities ( const common::Time now ) [protected]

Log all the motor velocities.

Parameters:

[in] now The current gazebo common::Time

Definition at line 314 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::LogWrenches ( const common::Time now ) [protected]

Log all the wrenches.

Parameters:

[in] now The current gazebo common::Time

Definition at line 369 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::OnUpdate ( const common::UpdateInfo & _info ) [protected]

Called when the world is updated.

Parameters:

[in] _info Update timing information.

Definition at line 154 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::RateThrustCallback ( const mav_msgs::RateThrustConstPtr & control_msg ) [protected]

Called when a RateThrust message is received.

Parameters:

[in] control_msg A RateThrust message from mav_msgs.

Definition at line 300 of file gazebo_bag_plugin.cpp.

bool gazebo::GazeboBagPlugin::RecordingServiceCallback	(	rotors_comm::RecordRosbag::Request &	req,
		rotors_comm::RecordRosbag::Response &	res
	)		`[protected]`

Called when a request to start or stop recording is received.

Parameters:

[in]	req	The request to start or stop recording.
[out]	res	The response to be sent back to the client.

Definition at line 398 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::StartRecording ( ) [protected]

Starting recording the rosbag.

Definition at line 166 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::StopRecording ( ) [protected]

Stop recording the rosbag.

Definition at line 235 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::WaypointCallback ( const trajectory_msgs::MultiDOFJointTrajectoryConstPtr & trajectory_msg ) [protected]

Called when a MultiDOFJointTrajectoryPoint message is received.

Parameters:

[in] trajectory_msg A MultiDOFJointTrajectoryPoint message from trajectory_msgs.

Definition at line 271 of file gazebo_bag_plugin.cpp.

void gazebo::GazeboBagPlugin::WindSpeedCallback ( const rotors_comm::WindSpeedConstPtr & wind_speed_msg ) [protected]

Called when a WindSpeed message is received.

Parameters:

[in] wind_speed_msg A WindSpeed message from rotors_comm.

Definition at line 307 of file gazebo_bag_plugin.cpp.

template<class T >

void gazebo::GazeboBagPlugin::writeBag	(	const std::string &	topic,
		const ros::Time &	time,
		const T &	msg
	)		`[inline, private]`

Definition at line 226 of file gazebo_bag_plugin.h.

template<class T >

void gazebo::GazeboBagPlugin::writeBag	(	const std::string &	topic,
		const ros::Time &	time,
		boost::shared_ptr< T const > const &	msg
	)		`[inline, private]`