ROS interface plugin for Gazebo. More...

#include <gazebo_ros_interface_plugin.h>

Public Member Functions
	GazeboRosInterfacePlugin ()
void	InitializeParams ()
void	Publish ()
	~GazeboRosInterfacePlugin ()
Protected Member Functions
void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)
void	OnUpdate (const common::UpdateInfo &)
	This gets called by the world update start event.
Private Member Functions
template<typename GazeboMsgT , typename RosMsgT >
void	ConnectHelper (void(GazeboRosInterfacePlugin::fp)(const boost::shared_ptr< GazeboMsgT const > &, ros::Publisher), GazeboRosInterfacePlugin ptr, std::string gazeboNamespace, std::string gazeboTopicName, std::string rosTopicName, transport::NodePtr gz_node_handle)
	Provides a way for GzConnectGazeboToRosTopicMsgCallback() to connect a Gazebo subscriber to a ROS publisher.
void	ConvertHeaderGzToRos (const gz_std_msgs::Header &gz_header, std_msgs::Header_< std::allocator< void > > *ros_header)
void	ConvertHeaderRosToGz (const std_msgs::Header_< std::allocator< void > > &ros_header, gz_std_msgs::Header *gz_header)
template<typename T >
transport::PublisherPtr	FindOrMakeGazeboPublisher (std::string topic)
	Looks if a publisher on the provided topic already exists, and returns it. If no publisher exists, this method creates one and returns that instead.
void	GzActuatorsMsgCallback (GzActuatorsMsgPtr &gz_actuators_msg, ros::Publisher ros_publisher)
void	GzBroadcastTransformMsgCallback (GzTransformStampedWithFrameIdsMsgPtr &broadcast_transform_msg)
	This is a special-case callback which listens for Gazebo "Transform" messages. Upon receiving one it broadcasts the transform on the ROS system (using transform_broadcast()).
void	GzConnectGazeboToRosTopicMsgCallback (GzConnectGazeboToRosTopicMsgPtr &gz_connect_gazebo_to_ros_topic_msg)
void	GzConnectRosToGazeboTopicMsgCallback (GzConnectRosToGazeboTopicMsgPtr &gz_connect_ros_to_gazebo_topic_msg)
	Subscribes to the provided ROS topic and publishes on the provided Gazebo topic (all info contained within the message).
void	GzFloat32MsgCallback (GzFloat32MsgPtr &gz_float_32_msg, ros::Publisher ros_publisher)
void	GzFluidPressureMsgCallback (GzFluidPressureMsgPtr &gz_fluid_pressure_msg, ros::Publisher ros_publisher)
void	GzImuMsgCallback (GzImuPtr &gz_imu_msg, ros::Publisher ros_publisher)
void	GzJointStateMsgCallback (GzJointStateMsgPtr &gz_joint_state_msg, ros::Publisher ros_publisher)
void	GzMagneticFieldMsgCallback (GzMagneticFieldMsgPtr &gz_magnetic_field_msg, ros::Publisher ros_publisher)
void	GzNavSatFixCallback (GzNavSatFixPtr &gz_nav_sat_fix_msg, ros::Publisher ros_publisher)
void	GzOdometryMsgCallback (GzOdometryMsgPtr &gz_odometry_msg, ros::Publisher ros_publisher)
void	GzPoseMsgCallback (GzPoseMsgPtr &gz_pose_msg, ros::Publisher ros_publisher)
void	GzPoseWithCovarianceStampedMsgCallback (GzPoseWithCovarianceStampedMsgPtr &gz_pose_with_covariance_stamped_msg, ros::Publisher ros_publisher)
void	GzTransformStampedMsgCallback (GzTransformStampedMsgPtr &gz_transform_stamped_msg, ros::Publisher ros_publisher)
void	GzTwistStampedMsgCallback (GzTwistStampedMsgPtr &gz_twist_stamped_msg, ros::Publisher ros_publisher)
void	GzVector3dStampedMsgCallback (GzVector3dStampedMsgPtr &gz_vector_3d_stamped_msg, ros::Publisher ros_publisher)
void	GzWindSpeedMsgCallback (GzWindSpeedMsgPtr &gz_wind_speed_msg, ros::Publisher ros_publisher)
void	GzWrenchStampedMsgCallback (GzWrenchStampedMsgPtr &gz_wrench_stamped_msg, ros::Publisher ros_publisher)
void	RosActuatorsMsgCallback (const mav_msgs::ActuatorsConstPtr &ros_actuators_msg_ptr, gazebo::transport::PublisherPtr gz_publisher_ptr)
void	RosCommandMotorSpeedMsgCallback (const mav_msgs::ActuatorsConstPtr &ros_command_motor_speed_msg_ptr, gazebo::transport::PublisherPtr gz_publisher_ptr)
void	RosRollPitchYawrateThrustMsgCallback (const mav_msgs::RollPitchYawrateThrustConstPtr &ros_roll_pitch_yawrate_thrust_msg_ptr, gazebo::transport::PublisherPtr gz_publisher_ptr)
void	RosWindSpeedMsgCallback (const rotors_comm::WindSpeedConstPtr &ros_wind_speed_msg_ptr, gazebo::transport::PublisherPtr gz_publisher_ptr)
Private Attributes
transport::SubscriberPtr	gz_broadcast_transform_sub_
transport::SubscriberPtr	gz_connect_gazebo_to_ros_topic_sub_
transport::SubscriberPtr	gz_connect_ros_to_gazebo_topic_sub_
transport::NodePtr	gz_node_handle_
	Handle for the Gazebo node.
std::vector < gazebo::transport::NodePtr >	nodePtrs_
mav_msgs::Actuators	ros_actuators_msg_
std_msgs::Float32	ros_float_32_msg_
sensor_msgs::FluidPressure	ros_fluid_pressure_msg_
sensor_msgs::Imu	ros_imu_msg_
sensor_msgs::JointState	ros_joint_state_msg_
sensor_msgs::MagneticField	ros_magnetic_field_msg_
sensor_msgs::NavSatFix	ros_nav_sat_fix_msg_
ros::NodeHandle *	ros_node_handle_
	Handle for the ROS node.
nav_msgs::Odometry	ros_odometry_msg_
geometry_msgs::Pose	ros_pose_msg_
geometry_msgs::PoseWithCovarianceStamped	ros_pose_with_covariance_stamped_msg_
geometry_msgs::PointStamped	ros_position_stamped_msg_
geometry_msgs::TransformStamped	ros_transform_stamped_msg_
geometry_msgs::TwistStamped	ros_twist_stamped_msg_
rotors_comm::WindSpeed	ros_wind_speed_msg_
geometry_msgs::WrenchStamped	ros_wrench_stamped_msg_
std::vector < gazebo::transport::SubscriberPtr >	subscriberPtrs_
tf::Transform	tf_
tf::TransformBroadcaster	transform_broadcaster_
event::ConnectionPtr	updateConnection_
	Pointer to the update event connection.
physics::WorldPtr	world_
	Pointer to the world.

Detailed Description

ROS interface plugin for Gazebo.

This routes messages to/from Gazebo and ROS. This is used so that individual plugins are not ROS dependent. This is a WorldPlugin, only one of these is designed to be enabled per Gazebo world.

Definition at line 123 of file gazebo_ros_interface_plugin.h.

Constructor & Destructor Documentation

gazebo::GazeboRosInterfacePlugin::GazeboRosInterfacePlugin ( )

Definition at line 32 of file gazebo_ros_interface_plugin.cpp.

gazebo::GazeboRosInterfacePlugin::~GazeboRosInterfacePlugin ( )

Definition at line 35 of file gazebo_ros_interface_plugin.cpp.

Member Function Documentation

template<typename GazeboMsgT , typename RosMsgT >

void gazebo::GazeboRosInterfacePlugin::ConnectHelper	(	void(GazeboRosInterfacePlugin::*)(const boost::shared_ptr< GazeboMsgT const > &, ros::Publisher)	fp,
		GazeboRosInterfacePlugin *	ptr,
		std::string	gazeboNamespace,
		std::string	gazeboTopicName,
		std::string	rosTopicName,
		transport::NodePtr	gz_node_handle
	)		`[private]`

Provides a way for GzConnectGazeboToRosTopicMsgCallback() to connect a Gazebo subscriber to a ROS publisher.

GazeboMsgT The type of the message that will be subscribed to the Gazebo framework. RosMsgT The type of the message published to the ROS framework.

Definition at line 137 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::ConvertHeaderGzToRos	(	const gz_std_msgs::Header &	gz_header,
		std_msgs::Header_< std::allocator< void > > *	ros_header
	)		`[private]`

Definition at line 375 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::ConvertHeaderRosToGz	(	const std_msgs::Header_< std::allocator< void > > &	ros_header,
		gz_std_msgs::Header *	gz_header
	)		`[private]`

Definition at line 383 of file gazebo_ros_interface_plugin.cpp.

template<typename T >

transport::PublisherPtr gazebo::GazeboRosInterfacePlugin::FindOrMakeGazeboPublisher ( std::string topic ) [private]

Looks if a publisher on the provided topic already exists, and returns it. If no publisher exists, this method creates one and returns that instead.

Warning:: Finding an already created publisher is not supported yet!

void gazebo::GazeboRosInterfacePlugin::GzActuatorsMsgCallback	(	GzActuatorsMsgPtr &	gz_actuators_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 395 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzBroadcastTransformMsgCallback ( GzTransformStampedWithFrameIdsMsgPtr & broadcast_transform_msg ) [private]

This is a special-case callback which listens for Gazebo "Transform" messages. Upon receiving one it broadcasts the transform on the ROS system (using transform_broadcast()).

Definition at line 1032 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzConnectGazeboToRosTopicMsgCallback ( GzConnectGazeboToRosTopicMsgPtr & gz_connect_gazebo_to_ros_topic_msg ) [private]

Definition at line 171 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzConnectRosToGazeboTopicMsgCallback ( GzConnectRosToGazeboTopicMsgPtr & gz_connect_ros_to_gazebo_topic_msg ) [private]

Subscribes to the provided ROS topic and publishes on the provided Gazebo topic (all info contained within the message).

Will create a Gazebo publisher if one doesn't already exist.

Definition at line 279 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzFloat32MsgCallback	(	GzFloat32MsgPtr &	gz_float_32_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 413 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzFluidPressureMsgCallback	(	GzFluidPressureMsgPtr &	gz_fluid_pressure_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 422 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzImuMsgCallback	(	GzImuPtr &	gz_imu_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 440 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzJointStateMsgCallback	(	GzJointStateMsgPtr &	gz_joint_state_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 499 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzMagneticFieldMsgCallback	(	GzMagneticFieldMsgPtr &	gz_magnetic_field_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 518 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzNavSatFixCallback	(	GzNavSatFixPtr &	gz_nav_sat_fix_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 552 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzOdometryMsgCallback	(	GzOdometryMsgPtr &	gz_odometry_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 651 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzPoseMsgCallback	(	GzPoseMsgPtr &	gz_pose_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 713 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzPoseWithCovarianceStampedMsgCallback	(	GzPoseWithCovarianceStampedMsgPtr &	gz_pose_with_covariance_stamped_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 727 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzTransformStampedMsgCallback	(	GzTransformStampedMsgPtr &	gz_transform_stamped_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 797 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzTwistStampedMsgCallback	(	GzTwistStampedMsgPtr &	gz_twist_stamped_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 831 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzVector3dStampedMsgCallback	(	GzVector3dStampedMsgPtr &	gz_vector_3d_stamped_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 860 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzWindSpeedMsgCallback	(	GzWindSpeedMsgPtr &	gz_wind_speed_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 880 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::GzWrenchStampedMsgCallback	(	GzWrenchStampedMsgPtr &	gz_wrench_stamped_msg,
		ros::Publisher	ros_publisher
	)		`[private]`

Definition at line 901 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::InitializeParams ( )

void gazebo::GazeboRosInterfacePlugin::Load	(	physics::WorldPtr	_world,
		sdf::ElementPtr	_sdf
	)		`[protected]`

Store the pointer to the model.

Definition at line 44 of file gazebo_ros_interface_plugin.cpp.

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

This gets called by the world update start event.

Calculates IMU parameters and then publishes one IMU message.

Definition at line 104 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::Publish ( )

void gazebo::GazeboRosInterfacePlugin::RosActuatorsMsgCallback	(	const mav_msgs::ActuatorsConstPtr &	ros_actuators_msg_ptr,
		gazebo::transport::PublisherPtr	gz_publisher_ptr
	)		`[private]`

Definition at line 937 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::RosCommandMotorSpeedMsgCallback	(	const mav_msgs::ActuatorsConstPtr &	ros_command_motor_speed_msg_ptr,
		gazebo::transport::PublisherPtr	gz_publisher_ptr
	)		`[private]`

Definition at line 966 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::RosRollPitchYawrateThrustMsgCallback	(	const mav_msgs::RollPitchYawrateThrustConstPtr &	ros_roll_pitch_yawrate_thrust_msg_ptr,
		gazebo::transport::PublisherPtr	gz_publisher_ptr
	)		`[private]`

Definition at line 982 of file gazebo_ros_interface_plugin.cpp.

void gazebo::GazeboRosInterfacePlugin::RosWindSpeedMsgCallback	(	const rotors_comm::WindSpeedConstPtr &	ros_wind_speed_msg_ptr,
		gazebo::transport::PublisherPtr	gz_publisher_ptr
	)		`[private]`