#include <gazebo_controller_interface.h>

Public Member Functions
	GazeboControllerInterface ()
void	InitializeParams ()
void	Publish ()
	~GazeboControllerInterface ()
Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void	OnUpdate (const common::UpdateInfo &)
Private Member Functions
void	CommandMotorCallback (GzActuatorsMsgPtr &actuators_msg)
void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.
void	QueueThread ()
Private Attributes
boost::thread	callback_queue_thread_
gazebo::transport::SubscriberPtr	cmd_motor_sub_
std::string	command_motor_speed_sub_topic_
Eigen::VectorXd	input_reference_
physics::ModelPtr	model_
gazebo::transport::PublisherPtr	motor_velocity_reference_pub_
std::string	motor_velocity_reference_pub_topic_
std::string	namespace_
gazebo::transport::NodePtr	node_handle_
bool	pubs_and_subs_created_
	Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate().
bool	received_first_reference_
	Gets set to true the first time a motor command is received.
event::ConnectionPtr	updateConnection_
	Pointer to the update event connection.
physics::WorldPtr	world_

Detailed Description

Definition at line 49 of file gazebo_controller_interface.h.

Constructor & Destructor Documentation

gazebo::GazeboControllerInterface::GazeboControllerInterface ( ) [inline]

Definition at line 51 of file gazebo_controller_interface.h.

gazebo::GazeboControllerInterface::~GazeboControllerInterface ( )

Definition at line 29 of file gazebo_controller_interface.cpp.

Member Function Documentation

void gazebo::GazeboControllerInterface::CommandMotorCallback ( GzActuatorsMsgPtr & actuators_msg ) [private]

Definition at line 167 of file gazebo_controller_interface.cpp.

void gazebo::GazeboControllerInterface::CreatePubsAndSubs ( ) [private]

Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.

Call this once the first time OnUpdate() is called (can't be called from Load() because there is no guarantee GazeboRosInterfacePlugin has has loaded and listening to ConnectGazeboToRosTopic and ConnectRosToGazeboTopic messages).

Definition at line 104 of file gazebo_controller_interface.cpp.

void gazebo::GazeboControllerInterface::InitializeParams ( )