#include <gazebo_gps_plugin.h>

Public Types
typedef std::normal_distribution	NormalDistribution
Public Member Functions
	GazeboGpsPlugin ()
virtual	~GazeboGpsPlugin ()
Protected Member Functions
void	Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
void	OnUpdate ()
	Publishes both a NavSatFix and Gazebo message.
Private Member Functions
void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.
Private Attributes
std::string	gps_topic_
	Name of topic for GPS messages, read from SDF file.
NormalDistribution	ground_speed_n_ [3]
	Normal distributions for ground speed noise in x, y, and z directions.
std::string	ground_speed_topic_
	Name of topic for ground speed messages, read from SDF file.
gz_sensor_msgs::NavSatFix	gz_gps_message_
	GPS message to be published on sensor update.
gazebo::transport::PublisherPtr	gz_gps_pub_
gz_geometry_msgs::TwistStamped	gz_ground_speed_message_
	Ground speed message to be published on sensor update.
gazebo::transport::PublisherPtr	gz_ground_speed_pub_
physics::LinkPtr	link_
	Pointer to the sensor link.
std::string	namespace_
gazebo::transport::NodePtr	node_handle_
sensors::GpsSensorPtr	parent_sensor_
	Pointer to the parent sensor.
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().
std::random_device	random_device_
	Random number generator.
std::mt19937	random_generator_
event::ConnectionPtr	updateConnection_
	Pointer to the update event connection.
physics::WorldPtr	world_
	Pointer to the world.

Detailed Description

Definition at line 42 of file gazebo_gps_plugin.h.

Member Typedef Documentation

typedef std::normal_distribution gazebo::GazeboGpsPlugin::NormalDistribution

Definition at line 44 of file gazebo_gps_plugin.h.

Constructor & Destructor Documentation

gazebo::GazeboGpsPlugin::GazeboGpsPlugin ( )

Definition at line 29 of file gazebo_gps_plugin.cpp.

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

Definition at line 35 of file gazebo_gps_plugin.cpp.

Member Function Documentation

void gazebo::GazeboGpsPlugin::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 206 of file gazebo_gps_plugin.cpp.