gazebo::GazeboRosControllerManager Class Reference

#include <gazebo_ros_controller_manager.h>

List of all members.

Public Member Functions
	GazeboRosControllerManager ()
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
virtual	~GazeboRosControllerManager ()
Protected Member Functions
virtual void	ResetChild ()
virtual void	UpdateChild ()
Protected Attributes
boost::shared_ptr < shadow_robot::SrSelfTest >	self_test_
Private Member Functions
void	ControllerManagerROSThread ()
void	ReadPr2Xml ()
Private Attributes
controller_manager::ControllerManager *	cm_
ros::Duration	control_period_
bool	fake_calibration_
ros_ethercat_model::RobotState *	fake_state_
std::vector < gazebo::physics::JointPtr >	joints_
ros::Time	last_update_sim_time_ros_
ros::Time	last_write_sim_time_ros_
transport::NodePtr	node
gazebo::physics::ModelPtr	parent_model_
std::string	robotNamespace
std::string	robotParam
	set topic name of robot description parameter
boost::thread	ros_spinner_thread_
ros::NodeHandle *	rosnode_
double	sim_start_
common::Time	simTime
RosEthercat *	state_
transport::SubscriberPtr	statsSub
bool	stop_
event::ConnectionPtr	updateConnection
double	wall_start_
	ros service callback
physics::WorldPtr	world

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Detailed Description

Definition at line 58 of file gazebo_ros_controller_manager.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosControllerManager::GazeboRosControllerManager

(

)

Definition at line 59 of file gazebo_ros_controller_manager.cpp.

gazebo::GazeboRosControllerManager::~GazeboRosControllerManager

(

)

[virtual]

Definition at line 64 of file gazebo_ros_controller_manager.cpp.

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Member Function Documentation

void gazebo::GazeboRosControllerManager::ControllerManagerROSThread

(

)

[private]

Definition at line 383 of file gazebo_ros_controller_manager.cpp.

void gazebo::GazeboRosControllerManager::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Definition at line 82 of file gazebo_ros_controller_manager.cpp.

void gazebo::GazeboRosControllerManager::ReadPr2Xml

(

)

[private]

Definition at line 297 of file gazebo_ros_controller_manager.cpp.

void gazebo::GazeboRosControllerManager::ResetChild

(

)

[protected, virtual]

Definition at line 192 of file gazebo_ros_controller_manager.cpp.

void gazebo::GazeboRosControllerManager::UpdateChild

(

)

[protected, virtual]

Definition at line 199 of file gazebo_ros_controller_manager.cpp.

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Member Data Documentation

controller_manager::ControllerManager* gazebo::GazeboRosControllerManager::cm_ [private]

Definition at line 76 of file gazebo_ros_controller_manager.h.

ros::Duration gazebo::GazeboRosControllerManager::control_period_ [private]

Definition at line 128 of file gazebo_ros_controller_manager.h.

bool gazebo::GazeboRosControllerManager::fake_calibration_ [private]

Definition at line 104 of file gazebo_ros_controller_manager.h.

ros_ethercat_model::RobotState* gazebo::GazeboRosControllerManager::fake_state_ [private]

The fake state helps Gazebo run the transmissions backwards, so that it can figure out what its joints should do based on the actuator values.

Definition at line 81 of file gazebo_ros_controller_manager.h.

std::vector<gazebo::physics::JointPtr> gazebo::GazeboRosControllerManager::joints_ [private]

Definition at line 82 of file gazebo_ros_controller_manager.h.

ros::Time gazebo::GazeboRosControllerManager::last_update_sim_time_ros_ [private]

Definition at line 129 of file gazebo_ros_controller_manager.h.

ros::Time gazebo::GazeboRosControllerManager::last_write_sim_time_ros_ [private]

Definition at line 130 of file gazebo_ros_controller_manager.h.

transport::NodePtr gazebo::GazeboRosControllerManager::node [private]

Definition at line 123 of file gazebo_ros_controller_manager.h.

gazebo::physics::ModelPtr gazebo::GazeboRosControllerManager::parent_model_ [private]

Definition at line 74 of file gazebo_ros_controller_manager.h.

std::string gazebo::GazeboRosControllerManager::robotNamespace [private]

Definition at line 102 of file gazebo_ros_controller_manager.h.

std::string gazebo::GazeboRosControllerManager::robotParam [private]

set topic name of robot description parameter

Definition at line 101 of file gazebo_ros_controller_manager.h.

boost::thread gazebo::GazeboRosControllerManager::ros_spinner_thread_ [private]

Definition at line 113 of file gazebo_ros_controller_manager.h.

ros::NodeHandle* gazebo::GazeboRosControllerManager::rosnode_ [private]

Definition at line 92 of file gazebo_ros_controller_manager.h.

boost::shared_ptr<shadow_robot::SrSelfTest> gazebo::GazeboRosControllerManager::self_test_ [protected]

Definition at line 71 of file gazebo_ros_controller_manager.h.

double gazebo::GazeboRosControllerManager::sim_start_ [private]

Definition at line 98 of file gazebo_ros_controller_manager.h.

common::Time gazebo::GazeboRosControllerManager::simTime [private]

Definition at line 125 of file gazebo_ros_controller_manager.h.

RosEthercat* gazebo::GazeboRosControllerManager::state_ [private]

Definition at line 75 of file gazebo_ros_controller_manager.h.

transport::SubscriberPtr gazebo::GazeboRosControllerManager::statsSub [private]

Definition at line 124 of file gazebo_ros_controller_manager.h.

bool gazebo::GazeboRosControllerManager::stop_ [private]

Definition at line 114 of file gazebo_ros_controller_manager.h.

event::ConnectionPtr gazebo::GazeboRosControllerManager::updateConnection [private]

Definition at line 120 of file gazebo_ros_controller_manager.h.

double gazebo::GazeboRosControllerManager::wall_start_ [private]

ros service callback

Definition at line 98 of file gazebo_ros_controller_manager.h.

physics::WorldPtr gazebo::GazeboRosControllerManager::world [private]

Definition at line 117 of file gazebo_ros_controller_manager.h.

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

• gazebo_ros_controller_manager.h
• gazebo_ros_controller_manager.cpp