gazebo::GazeboMultirotorBasePlugin Class Reference

This plugin publishes the motor speeds of your multirotor model. More...

#include <gazebo_multirotor_base_plugin.h>

List of all members.

Public Member Functions
	GazeboMultirotorBasePlugin ()
virtual	~GazeboMultirotorBasePlugin ()
Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Load the plugin.
void	OnUpdate (const common::UpdateInfo &)
	Called when the world is updated.
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
void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.
Private Attributes
gz_sensor_msgs::Actuators	actuators_msg_
std::string	actuators_pub_topic_
physics::Link_V	child_links_
std::string	frame_id_
gz_sensor_msgs::JointState	joint_state_msg_
gazebo::transport::PublisherPtr	joint_state_pub_
std::string	joint_state_pub_topic_
physics::LinkPtr	link_
std::string	link_name_
physics::ModelPtr	model_
MotorNumberToJointMap	motor_joints_
gazebo::transport::PublisherPtr	motor_pub_
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().
double	rotor_velocity_slowdown_sim_
event::ConnectionPtr	update_connection_
	Pointer to the update event connection.
physics::WorldPtr	world_

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Detailed Description

This plugin publishes the motor speeds of your multirotor model.

Definition at line 48 of file gazebo_multirotor_base_plugin.h.

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Member Typedef Documentation

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

Definition at line 49 of file gazebo_multirotor_base_plugin.h.

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

Definition at line 50 of file gazebo_multirotor_base_plugin.h.

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Constructor & Destructor Documentation

gazebo::GazeboMultirotorBasePlugin::GazeboMultirotorBasePlugin

(

)

[inline]

Definition at line 52 of file gazebo_multirotor_base_plugin.h.

gazebo::GazeboMultirotorBasePlugin::~GazeboMultirotorBasePlugin

(

)

[virtual]

Definition at line 32 of file gazebo_multirotor_base_plugin.cpp.

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Member Function Documentation

void gazebo::GazeboMultirotorBasePlugin::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 130 of file gazebo_multirotor_base_plugin.cpp.

void gazebo::GazeboMultirotorBasePlugin::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 36 of file gazebo_multirotor_base_plugin.cpp.

void gazebo::GazeboMultirotorBasePlugin::OnUpdate

(

const common::UpdateInfo &

_info

)

[protected]

Called when the world is updated.

Parameters:

[in]

_info

Update timing information.

Definition at line 89 of file gazebo_multirotor_base_plugin.cpp.

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Member Data Documentation

gz_sensor_msgs::Actuators gazebo::GazeboMultirotorBasePlugin::actuators_msg_ [private]

Re-used message object, defined here to reduce dynamic memory allocation.

Definition at line 109 of file gazebo_multirotor_base_plugin.h.

std::string gazebo::GazeboMultirotorBasePlugin::actuators_pub_topic_ [private]

Definition at line 101 of file gazebo_multirotor_base_plugin.h.

physics::Link_V gazebo::GazeboMultirotorBasePlugin::child_links_ [private]

Definition at line 95 of file gazebo_multirotor_base_plugin.h.

std::string gazebo::GazeboMultirotorBasePlugin::frame_id_ [private]

Definition at line 103 of file gazebo_multirotor_base_plugin.h.

gz_sensor_msgs::JointState gazebo::GazeboMultirotorBasePlugin::joint_state_msg_ [private]

Re-used message object, defined here to reduce dynamic memory allocation.

Definition at line 114 of file gazebo_multirotor_base_plugin.h.

gazebo::transport::PublisherPtr gazebo::GazeboMultirotorBasePlugin::joint_state_pub_ [private]

Definition at line 111 of file gazebo_multirotor_base_plugin.h.

std::string gazebo::GazeboMultirotorBasePlugin::joint_state_pub_topic_ [private]

Definition at line 100 of file gazebo_multirotor_base_plugin.h.

physics::LinkPtr gazebo::GazeboMultirotorBasePlugin::link_ [private]

Definition at line 93 of file gazebo_multirotor_base_plugin.h.

std::string gazebo::GazeboMultirotorBasePlugin::link_name_ [private]

Definition at line 102 of file gazebo_multirotor_base_plugin.h.

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

Definition at line 92 of file gazebo_multirotor_base_plugin.h.

MotorNumberToJointMap gazebo::GazeboMultirotorBasePlugin::motor_joints_ [private]

Definition at line 97 of file gazebo_multirotor_base_plugin.h.

gazebo::transport::PublisherPtr gazebo::GazeboMultirotorBasePlugin::motor_pub_ [private]

Definition at line 106 of file gazebo_multirotor_base_plugin.h.

std::string gazebo::GazeboMultirotorBasePlugin::namespace_ [private]

Definition at line 99 of file gazebo_multirotor_base_plugin.h.

gazebo::transport::NodePtr gazebo::GazeboMultirotorBasePlugin::node_handle_ [private]

Definition at line 116 of file gazebo_multirotor_base_plugin.h.

bool gazebo::GazeboMultirotorBasePlugin::pubs_and_subs_created_ [private]

Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate().

Definition at line 80 of file gazebo_multirotor_base_plugin.h.

double gazebo::GazeboMultirotorBasePlugin::rotor_velocity_slowdown_sim_ [private]

Definition at line 104 of file gazebo_multirotor_base_plugin.h.

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

Pointer to the update event connection.

Definition at line 89 of file gazebo_multirotor_base_plugin.h.

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

Definition at line 91 of file gazebo_multirotor_base_plugin.h.

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

• gazebo_multirotor_base_plugin.h
• gazebo_multirotor_base_plugin.cpp