gazebo::GazeboRosRange Class Reference

#include <gazebo_ros_range.h>

List of all members.

Public Member Functions
	GazeboRosRange ()
	Constructor.
void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin.
	~GazeboRosRange ()
	Destructor.
Protected Member Functions
virtual void	OnNewLaserScans ()
	Update the controller.
Private Member Functions
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator.
void	LoadThread ()
void	PutRangeData (common::Time &_updateTime)
	Put range data to the ROS topic.
void	RangeConnect ()
void	RangeDisconnect ()
void	RangeQueueThread ()
Private Attributes
boost::thread	callback_queue_thread_
boost::thread	deferred_load_thread_
double	fov_
	sensor field of view
std::string	frame_name_
	frame transform name, should match link name
double	gaussian_noise_
	Gaussian noise.
double	hokuyo_min_intensity_
	hack to mimic hokuyo intensity cutoff of 100
common::Time	last_update_time_
boost::mutex	lock_
	mutex to lock access to fields that are used in message callbacks
sensors::RaySensorPtr	parent_ray_sensor_
sensors::SensorPtr	parent_sensor_
	The parent sensor.
ros::Publisher	pub_
std::string	radiation_
	radiation type : ultrasound or infrared
int	range_connect_count_
	Keep track of number of connctions.
sensor_msgs::Range	range_msg_
	ros message
ros::CallbackQueue	range_queue_
std::string	robot_namespace_
	for setting ROS name space
ros::NodeHandle *	rosnode_
	pointer to ros node
sdf::ElementPtr	sdf
unsigned int	seed
std::string	topic_name_
	topic name
double	update_period_
double	update_rate_
	update rate of this sensor
physics::WorldPtr	world_

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Detailed Description

Definition at line 66 of file gazebo_ros_range.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosRange::GazeboRosRange

(

)

Constructor.

Definition at line 63 of file gazebo_ros_range.cpp.

gazebo::GazeboRosRange::~GazeboRosRange

(

)

Destructor.

Definition at line 70 of file gazebo_ros_range.cpp.

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Member Function Documentation

double gazebo::GazeboRosRange::GaussianKernel	(	double	mu,
		double	sigma
	)		[private]

Gaussian noise generator.

Definition at line 330 of file gazebo_ros_range.cpp.

void gazebo::GazeboRosRange::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Load the plugin.

Parameters:

take	in SDF root element

Definition at line 82 of file gazebo_ros_range.cpp.

void gazebo::GazeboRosRange::LoadThread

(

)

[private]

Definition at line 201 of file gazebo_ros_range.cpp.

void gazebo::GazeboRosRange::OnNewLaserScans

(

)

[protected, virtual]

Update the controller.

Definition at line 251 of file gazebo_ros_range.cpp.

void gazebo::GazeboRosRange::PutRangeData

(

common::Time &

_updateTime

)

[private]

Put range data to the ROS topic.

Definition at line 276 of file gazebo_ros_range.cpp.

void gazebo::GazeboRosRange::RangeConnect

(

)

[private]

Definition at line 233 of file gazebo_ros_range.cpp.

void gazebo::GazeboRosRange::RangeDisconnect

(

)

[private]

Definition at line 240 of file gazebo_ros_range.cpp.

void gazebo::GazeboRosRange::RangeQueueThread

(

)

[private]

Definition at line 354 of file gazebo_ros_range.cpp.

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Member Data Documentation

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

Definition at line 136 of file gazebo_ros_range.h.

boost::thread gazebo::GazeboRosRange::deferred_load_thread_ [private]

Definition at line 141 of file gazebo_ros_range.h.

double gazebo::GazeboRosRange::fov_ [private]

sensor field of view

Definition at line 113 of file gazebo_ros_range.h.

std::string gazebo::GazeboRosRange::frame_name_ [private]

frame transform name, should match link name

Definition at line 107 of file gazebo_ros_range.h.

double gazebo::GazeboRosRange::gaussian_noise_ [private]

Gaussian noise.

Definition at line 115 of file gazebo_ros_range.h.

double gazebo::GazeboRosRange::hokuyo_min_intensity_ [private]

hack to mimic hokuyo intensity cutoff of 100

Definition at line 124 of file gazebo_ros_range.h.

common::Time gazebo::GazeboRosRange::last_update_time_ [private]

Definition at line 129 of file gazebo_ros_range.h.

boost::mutex gazebo::GazeboRosRange::lock_ [private]

mutex to lock access to fields that are used in message callbacks

Definition at line 121 of file gazebo_ros_range.h.

sensors::RaySensorPtr gazebo::GazeboRosRange::parent_ray_sensor_ [private]

Definition at line 94 of file gazebo_ros_range.h.

sensors::SensorPtr gazebo::GazeboRosRange::parent_sensor_ [private]

The parent sensor.

Definition at line 93 of file gazebo_ros_range.h.

ros::Publisher gazebo::GazeboRosRange::pub_ [private]

Definition at line 98 of file gazebo_ros_range.h.

std::string gazebo::GazeboRosRange::radiation_ [private]

radiation type : ultrasound or infrared

Definition at line 110 of file gazebo_ros_range.h.

int gazebo::GazeboRosRange::range_connect_count_ [private]

Keep track of number of connctions.

Definition at line 86 of file gazebo_ros_range.h.

sensor_msgs::Range gazebo::GazeboRosRange::range_msg_ [private]

ros message

Definition at line 101 of file gazebo_ros_range.h.

ros::CallbackQueue gazebo::GazeboRosRange::range_queue_ [private]

Definition at line 134 of file gazebo_ros_range.h.

std::string gazebo::GazeboRosRange::robot_namespace_ [private]

for setting ROS name space

Definition at line 132 of file gazebo_ros_range.h.

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

pointer to ros node

Definition at line 97 of file gazebo_ros_range.h.

sdf::ElementPtr gazebo::GazeboRosRange::sdf [private]

Definition at line 139 of file gazebo_ros_range.h.

unsigned int gazebo::GazeboRosRange::seed [private]

Definition at line 142 of file gazebo_ros_range.h.

std::string gazebo::GazeboRosRange::topic_name_ [private]

topic name

Definition at line 104 of file gazebo_ros_range.h.

double gazebo::GazeboRosRange::update_period_ [private]

Definition at line 128 of file gazebo_ros_range.h.

double gazebo::GazeboRosRange::update_rate_ [private]

update rate of this sensor

Definition at line 127 of file gazebo_ros_range.h.

physics::WorldPtr gazebo::GazeboRosRange::world_ [private]

Definition at line 91 of file gazebo_ros_range.h.

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

• gazebo_ros_range.h
• gazebo_ros_range.cpp