gazebo::GazeboRosDiffdrive Class Reference

#include <gazebo_ros_diffdrive_uos.h>

Inheritance diagram for gazebo::GazeboRosDiffdrive:

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_
std::vector< physics::JointPtr >	joints_
sensor_msgs::JointState	js_
common::Time	last_cmd_vel_time_
size_t	left
float	max_velocity_
	maximum linear speed of the robot [m/s] More...
physics::ModelPtr	my_parent_
physics::WorldPtr	my_world_
std::string	node_namespace_
size_t	num_joints_
float	odom_pose_ [3]
ros::Publisher	odom_pub_
std::string	odom_topic_name_
float	odom_vel_ [3]
common::Time	prev_update_time_
size_t	right
ros::NodeHandle *	rosnode_
boost::thread *	spinner_thread_
float	torque_
	maximum torque applied to the wheels [Nm] More...
float	turning_adaptation_
	Turning adaptation for odometry. More...
event::ConnectionPtr	updateConnection
float	wheel_diam_
	Diameter of the wheels. More...
float	wheel_sep_
	Separation between the wheels. More...
float	wheel_speed_left_
float	wheel_speed_right_
	Desired speeds of the wheels. More...

Static Private Attributes
static const double	CMD_VEL_TIMEOUT = 0.6

Detailed Description

Definition at line 17 of file gazebo_ros_diffdrive_uos.h.

Constructor & Destructor Documentation

GazeboRosDiffdrive::GazeboRosDiffdrive

(

)

Definition at line 13 of file gazebo_ros_diffdrive_uos.cpp.

GazeboRosDiffdrive::~GazeboRosDiffdrive ( )

virtual

Definition at line 20 of file gazebo_ros_diffdrive_uos.cpp.

Member Function Documentation

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

virtual

Definition at line 28 of file gazebo_ros_diffdrive_uos.cpp.

void GazeboRosDiffdrive::OnCmdVel ( const geometry_msgs::TwistConstPtr &  msg )

private

Definition at line 342 of file gazebo_ros_diffdrive_uos.cpp.

void GazeboRosDiffdrive::spin ( )

private

Definition at line 363 of file gazebo_ros_diffdrive_uos.cpp.

void GazeboRosDiffdrive::UpdateChild ( )

virtual

Definition at line 205 of file gazebo_ros_diffdrive_uos.cpp.

Member Data Documentation

ros::Subscriber gazebo::GazeboRosDiffdrive::cmd_vel_sub_

private

Definition at line 36 of file gazebo_ros_diffdrive_uos.h.

const double gazebo::GazeboRosDiffdrive::CMD_VEL_TIMEOUT = 0.6

staticprivate

Definition at line 27 of file gazebo_ros_diffdrive_uos.h.

std::string gazebo::GazeboRosDiffdrive::cmd_vel_topic_name_

private

Definition at line 40 of file gazebo_ros_diffdrive_uos.h.

ros::Publisher gazebo::GazeboRosDiffdrive::joint_state_pub_

private

Definition at line 34 of file gazebo_ros_diffdrive_uos.h.

std::string gazebo::GazeboRosDiffdrive::joint_states_topic_name_

private

Definition at line 42 of file gazebo_ros_diffdrive_uos.h.

std::vector<physics::JointPtr> gazebo::GazeboRosDiffdrive::joints_

private

Definition at line 69 of file gazebo_ros_diffdrive_uos.h.

sensor_msgs::JointState gazebo::GazeboRosDiffdrive::js_

private

Definition at line 83 of file gazebo_ros_diffdrive_uos.h.

common::Time gazebo::GazeboRosDiffdrive::last_cmd_vel_time_

private

Definition at line 75 of file gazebo_ros_diffdrive_uos.h.

size_t gazebo::GazeboRosDiffdrive::left

private

Definition at line 45 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::max_velocity_

private

maximum linear speed of the robot [m/s]

Definition at line 60 of file gazebo_ros_diffdrive_uos.h.

physics::ModelPtr gazebo::GazeboRosDiffdrive::my_parent_

private

Definition at line 63 of file gazebo_ros_diffdrive_uos.h.

physics::WorldPtr gazebo::GazeboRosDiffdrive::my_world_

private

Definition at line 62 of file gazebo_ros_diffdrive_uos.h.

std::string gazebo::GazeboRosDiffdrive::node_namespace_

private

Definition at line 38 of file gazebo_ros_diffdrive_uos.h.

size_t gazebo::GazeboRosDiffdrive::num_joints_

private

Definition at line 44 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::odom_pose_[3]

private

Definition at line 80 of file gazebo_ros_diffdrive_uos.h.

ros::Publisher gazebo::GazeboRosDiffdrive::odom_pub_

private

Definition at line 33 of file gazebo_ros_diffdrive_uos.h.

std::string gazebo::GazeboRosDiffdrive::odom_topic_name_

private

Definition at line 41 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::odom_vel_[3]

private

Definition at line 81 of file gazebo_ros_diffdrive_uos.h.

common::Time gazebo::GazeboRosDiffdrive::prev_update_time_

private

Definition at line 72 of file gazebo_ros_diffdrive_uos.h.

size_t gazebo::GazeboRosDiffdrive::right

private

Definition at line 45 of file gazebo_ros_diffdrive_uos.h.

ros::NodeHandle* gazebo::GazeboRosDiffdrive::rosnode_

private

Definition at line 31 of file gazebo_ros_diffdrive_uos.h.

boost::thread* gazebo::GazeboRosDiffdrive::spinner_thread_

private

Definition at line 86 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::torque_

private

maximum torque applied to the wheels [Nm]

Definition at line 57 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::turning_adaptation_

private

Turning adaptation for odometry.

Definition at line 54 of file gazebo_ros_diffdrive_uos.h.

event::ConnectionPtr gazebo::GazeboRosDiffdrive::updateConnection

private

Definition at line 78 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::wheel_diam_

private

Diameter of the wheels.

Definition at line 51 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::wheel_sep_

private

Separation between the wheels.

Definition at line 48 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::wheel_speed_left_

private

Definition at line 67 of file gazebo_ros_diffdrive_uos.h.

float gazebo::GazeboRosDiffdrive::wheel_speed_right_

private

Desired speeds of the wheels.

Definition at line 66 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