#include <gazebo_pressure_plugin.h>

Public Types
typedef std::normal_distribution	NormalDistribution
Public Member Functions
	GazeboPressurePlugin ()
	Constructor.
virtual	~GazeboPressurePlugin ()
	Destructor.
Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Called when the plugin is first created, and after the world has been loaded. This function should not be blocking.
void	OnUpdate (const common::UpdateInfo &)
	This gets called by the world update start event.
Private Member Functions
void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.
Private Attributes
std::string	frame_id_
	Frame ID for pressure messages.
physics::LinkPtr	link_
	Pointer to the link.
physics::ModelPtr	model_
	Pointer to the model.
std::string	namespace_
	Transport namespace.
gazebo::transport::NodePtr	node_handle_
	Handle for the Gazebo node.
gz_sensor_msgs::FluidPressure	pressure_message_
	Fluid pressure message.
NormalDistribution	pressure_n_ [1]
	Normal distribution for pressure noise.
gazebo::transport::PublisherPtr	pressure_pub_
	Pressure message publisher.
std::string	pressure_topic_
	Topic name for pressure messages.
double	pressure_var_
	Pressure measurement variance (Pa^2).
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::mt19937	random_generator_
double	ref_alt_
	Reference altitude (meters).
event::ConnectionPtr	updateConnection_
	Pointer to the update event connection.
physics::WorldPtr	world_
	Pointer to the world.

Detailed Description

Definition at line 51 of file gazebo_pressure_plugin.h.

Member Typedef Documentation

typedef std::normal_distribution gazebo::GazeboPressurePlugin::NormalDistribution

Definition at line 59 of file gazebo_pressure_plugin.h.

Constructor & Destructor Documentation

gazebo::GazeboPressurePlugin::GazeboPressurePlugin ( )

Constructor.

Definition at line 25 of file gazebo_pressure_plugin.cpp.

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

Destructor.

Definition at line 31 of file gazebo_pressure_plugin.cpp.

Member Function Documentation

void gazebo::GazeboPressurePlugin::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 140 of file gazebo_pressure_plugin.cpp.