#include <gazebo_odometry_plugin.h>

Public Types
typedef boost::array< double, 36 >	CovarianceMatrix
typedef std::normal_distribution	NormalDistribution
typedef std::deque< std::pair < int, gz_geometry_msgs::Odometry > >	OdometryQueue
typedef std::uniform_real_distribution	UniformDistribution
Public Member Functions
	GazeboOdometryPlugin ()
void	InitializeParams ()
void	Publish ()
	~GazeboOdometryPlugin ()
Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void	OnUpdate (const common::UpdateInfo &)
Private Member Functions
void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.
void	QueueThread ()
Private Attributes
NormalDistribution	angular_velocity_n_ [3]
UniformDistribution	angular_velocity_u_ [3]
NormalDistribution	attitude_n_ [3]
UniformDistribution	attitude_u_ [3]
gazebo::transport::PublisherPtr	broadcast_transform_pub_
	Special-case publisher to publish stamped transforms with frame IDs. The ROS interface plugin (if present) will listen to this publisher and broadcast the transform using transform_broadcast().
boost::thread	callback_queue_thread_
std::string	child_frame_id_
cv::Mat	covariance_image_
double	covariance_image_scale_
int	gazebo_sequence_
NormalDistribution	linear_velocity_n_ [3]
UniformDistribution	linear_velocity_u_ [3]
physics::LinkPtr	link_
std::string	link_name_
int	measurement_delay_
int	measurement_divisor_
physics::ModelPtr	model_
std::string	namespace_
gazebo::transport::NodePtr	node_handle_
gazebo::transport::PublisherPtr	odometry_pub_
std::string	odometry_pub_topic_
OdometryQueue	odometry_queue_
int	odometry_sequence_
std::string	parent_frame_id_
physics::EntityPtr	parent_link_
CovarianceMatrix	pose_covariance_matrix_
gazebo::transport::PublisherPtr	pose_pub_
std::string	pose_pub_topic_
gazebo::transport::PublisherPtr	pose_with_covariance_stamped_pub_
std::string	pose_with_covariance_stamped_pub_topic_
NormalDistribution	position_n_ [3]
gazebo::transport::PublisherPtr	position_stamped_pub_
std::string	position_stamped_pub_topic_
UniformDistribution	position_u_ [3]
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_
std::mt19937	random_generator_
gazebo::transport::PublisherPtr	transform_stamped_pub_
std::string	transform_stamped_pub_topic_
CovarianceMatrix	twist_covariance_matrix_
double	unknown_delay_
event::ConnectionPtr	updateConnection_
	Pointer to the update event connection.
physics::WorldPtr	world_

Detailed Description

Definition at line 61 of file gazebo_odometry_plugin.h.

Member Typedef Documentation

typedef boost::array<double, 36> gazebo::GazeboOdometryPlugin::CovarianceMatrix

Definition at line 66 of file gazebo_odometry_plugin.h.

typedef std::normal_distribution gazebo::GazeboOdometryPlugin::NormalDistribution

Definition at line 63 of file gazebo_odometry_plugin.h.

typedef std::deque<std::pair<int, gz_geometry_msgs::Odometry> > gazebo::GazeboOdometryPlugin::OdometryQueue

Definition at line 65 of file gazebo_odometry_plugin.h.

typedef std::uniform_real_distribution gazebo::GazeboOdometryPlugin::UniformDistribution

Definition at line 64 of file gazebo_odometry_plugin.h.

Constructor & Destructor Documentation

gazebo::GazeboOdometryPlugin::GazeboOdometryPlugin ( ) [inline]

Definition at line 68 of file gazebo_odometry_plugin.h.

gazebo::GazeboOdometryPlugin::~GazeboOdometryPlugin ( )

Definition at line 45 of file gazebo_odometry_plugin.cpp.

Member Function Documentation

void gazebo::GazeboOdometryPlugin::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 515 of file gazebo_odometry_plugin.cpp.

void gazebo::GazeboOdometryPlugin::InitializeParams ( )

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

Definition at line 48 of file gazebo_odometry_plugin.cpp.

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

Definition at line 236 of file gazebo_odometry_plugin.cpp.

void gazebo::GazeboOdometryPlugin::Publish ( )

void gazebo::GazeboOdometryPlugin::QueueThread ( ) [private]

Member Data Documentation

NormalDistribution gazebo::GazeboOdometryPlugin::angular_velocity_n_[3] [private]

Definition at line 125 of file gazebo_odometry_plugin.h.

UniformDistribution gazebo::GazeboOdometryPlugin::angular_velocity_u_[3] [private]

Definition at line 129 of file gazebo_odometry_plugin.h.

NormalDistribution gazebo::GazeboOdometryPlugin::attitude_n_[3] [private]

Definition at line 123 of file gazebo_odometry_plugin.h.

UniformDistribution gazebo::GazeboOdometryPlugin::attitude_u_[3] [private]

Definition at line 127 of file gazebo_odometry_plugin.h.

gazebo::transport::PublisherPtr gazebo::GazeboOdometryPlugin::broadcast_transform_pub_ [private]

Special-case publisher to publish stamped transforms with frame IDs. The ROS interface plugin (if present) will listen to this publisher and broadcast the transform using transform_broadcast().

Definition at line 157 of file gazebo_odometry_plugin.h.

boost::thread gazebo::GazeboOdometryPlugin::callback_queue_thread_ [private]

Definition at line 167 of file gazebo_odometry_plugin.h.

std::string gazebo::GazeboOdometryPlugin::child_frame_id_ [private]

Definition at line 119 of file gazebo_odometry_plugin.h.

cv::Mat gazebo::GazeboOdometryPlugin::covariance_image_ [private]

Definition at line 140 of file gazebo_odometry_plugin.h.

double gazebo::GazeboOdometryPlugin::covariance_image_scale_ [private]

Definition at line 139 of file gazebo_odometry_plugin.h.

int gazebo::GazeboOdometryPlugin::gazebo_sequence_ [private]

Definition at line 136 of file gazebo_odometry_plugin.h.

NormalDistribution gazebo::GazeboOdometryPlugin::linear_velocity_n_[3] [private]