gazebo::GazeboRosDiffdrive Class Reference

#include <gazebo_ros_diffdrive_uos.h>

List of all members.

Public Member Functions
	GazeboRosDiffdrive ()
virtual void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
virtual void	UpdateChild ()
virtual	~GazeboRosDiffdrive ()
Private Member Functions
void	OnCmdVel (const geometry_msgs::TwistConstPtr &msg)
void	spin ()
Private Attributes
ros::Subscriber	cmd_vel_sub_
std::string	cmd_vel_topic_name_
ros::Publisher	joint_state_pub_
std::string	joint_states_topic_name_
physics::JointPtr	joints_ [NUM_JOINTS]
sensor_msgs::JointState	js_
common::Time	last_cmd_vel_time_
float	max_velocity_
	maximum linear speed of the robot [m/s]
physics::ModelPtr	my_parent_
physics::WorldPtr	my_world_
std::string	node_namespace_
float	odom_pose_ [3]
ros::Publisher	odom_pub_
std::string	odom_topic_name_
float	odom_vel_ [3]
common::Time	prev_update_time_
ros::NodeHandle *	rosnode_
boost::thread *	spinner_thread_
float	torque_
	maximum torque applied to the wheels [Nm]
float	turning_adaptation_
	Turning adaptation for odometry.
event::ConnectionPtr	updateConnection
float	wheel_diam_
	Diameter of the wheels.
float	wheel_sep_
	Separation between the wheels.
float	wheel_speed_left_
float	wheel_speed_right_
	Desired speeds of the wheels.
Static Private Attributes
static const double	CMD_VEL_TIMEOUT = 0.6
static const size_t	NUM_JOINTS = 6

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Detailed Description

Definition at line 17 of file gazebo_ros_diffdrive_uos.h.

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Constructor & Destructor Documentation

GazeboRosDiffdrive::GazeboRosDiffdrive

(

)

Definition at line 19 of file gazebo_ros_diffdrive_uos.cpp.

GazeboRosDiffdrive::~GazeboRosDiffdrive

(

)

[virtual]

Definition at line 31 of file gazebo_ros_diffdrive_uos.cpp.

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Member Function Documentation

void GazeboRosDiffdrive::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)		[virtual]

Definition at line 39 of file gazebo_ros_diffdrive_uos.cpp.

void GazeboRosDiffdrive::OnCmdVel

(

const geometry_msgs::TwistConstPtr &

msg

)

[private]

Definition at line 286 of file gazebo_ros_diffdrive_uos.cpp.

void GazeboRosDiffdrive::spin

(

)

[private]

Definition at line 303 of file gazebo_ros_diffdrive_uos.cpp.

void GazeboRosDiffdrive::UpdateChild

(

)

[virtual]

Definition at line 165 of file gazebo_ros_diffdrive_uos.cpp.

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Member Data Documentation

ros::Subscriber gazebo::GazeboRosDiffdrive::cmd_vel_sub_ [private]

Definition at line 37 of file gazebo_ros_diffdrive_uos.h.

const double gazebo::GazeboRosDiffdrive::CMD_VEL_TIMEOUT = 0.6 [static, private]

Definition at line 28 of file gazebo_ros_diffdrive_uos.h.

std::string gazebo::GazeboRosDiffdrive::cmd_vel_topic_name_ [private]

Definition at line 41 of file gazebo_ros_diffdrive_uos.h.

ros::Publisher gazebo::GazeboRosDiffdrive::joint_state_pub_ [private]

Definition at line 35 of file gazebo_ros_diffdrive_uos.h.

std::string gazebo::GazeboRosDiffdrive::joint_states_topic_name_ [private]

Definition at line 43 of file gazebo_ros_diffdrive_uos.h.

physics::JointPtr gazebo::GazeboRosDiffdrive::joints_[NUM_JOINTS] [private]

Definition at line 67 of file gazebo_ros_diffdrive_uos.h.

sensor_msgs::JointState gazebo::GazeboRosDiffdrive::js_ [private]

Definition at line 81 of file gazebo_ros_diffdrive_uos.h.

common::Time gazebo::GazeboRosDiffdrive::last_cmd_vel_time_ [private]

Definition at line 73 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::max_velocity_ [private]

maximum linear speed of the robot [m/s]

Definition at line 58 of file gazebo_ros_diffdrive_uos.h.

physics::ModelPtr gazebo::GazeboRosDiffdrive::my_parent_ [private]

Definition at line 61 of file gazebo_ros_diffdrive_uos.h.

physics::WorldPtr gazebo::GazeboRosDiffdrive::my_world_ [private]

Definition at line 60 of file gazebo_ros_diffdrive_uos.h.

std::string gazebo::GazeboRosDiffdrive::node_namespace_ [private]

Definition at line 39 of file gazebo_ros_diffdrive_uos.h.

const size_t gazebo::GazeboRosDiffdrive::NUM_JOINTS = 6 [static, private]

Definition at line 27 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::odom_pose_[3] [private]

Definition at line 78 of file gazebo_ros_diffdrive_uos.h.

ros::Publisher gazebo::GazeboRosDiffdrive::odom_pub_ [private]

Definition at line 34 of file gazebo_ros_diffdrive_uos.h.

std::string gazebo::GazeboRosDiffdrive::odom_topic_name_ [private]

Definition at line 42 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::odom_vel_[3] [private]

Definition at line 79 of file gazebo_ros_diffdrive_uos.h.

common::Time gazebo::GazeboRosDiffdrive::prev_update_time_ [private]

Definition at line 70 of file gazebo_ros_diffdrive_uos.h.

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

Definition at line 32 of file gazebo_ros_diffdrive_uos.h.

boost::thread* gazebo::GazeboRosDiffdrive::spinner_thread_ [private]

Definition at line 84 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::torque_ [private]

maximum torque applied to the wheels [Nm]

Definition at line 55 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::turning_adaptation_ [private]

Turning adaptation for odometry.

Definition at line 52 of file gazebo_ros_diffdrive_uos.h.

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

Definition at line 76 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::wheel_diam_ [private]

Diameter of the wheels.

Definition at line 49 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::wheel_sep_ [private]

Separation between the wheels.

Definition at line 46 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::wheel_speed_left_ [private]

Definition at line 65 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::wheel_speed_right_ [private]

Desired speeds of the wheels.

Definition at line 64 of file gazebo_ros_diffdrive_uos.h.

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

• gazebo_ros_diffdrive_uos.h
• gazebo_ros_diffdrive_uos.cpp