#include <gazebo_ros_block_laser.h>
Public Member Functions | |
GazeboRosBlockLaser () | |
Constructor. More... | |
void | Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf) |
Load the plugin. More... | |
void | OnStats (const boost::shared_ptr< msgs::WorldStatistics const > &_msg) |
~GazeboRosBlockLaser () | |
Destructor. More... | |
Protected Member Functions | |
virtual void | OnNewLaserScans () |
Update the controller. More... | |
Private Member Functions | |
double | GaussianKernel (double mu, double sigma) |
Gaussian noise generator. More... | |
void | LaserConnect () |
void | LaserDisconnect () |
void | LaserQueueThread () |
void | PutLaserData (common::Time &_updateTime) |
Put laser data to the ROS topic. More... | |
Private Attributes | |
boost::thread | callback_laser_queue_thread_ |
sensor_msgs::PointCloud | cloud_msg_ |
ros message More... | |
std::string | frame_name_ |
frame transform name, should match link name More... | |
double | gaussian_noise_ |
Gaussian noise. More... | |
double | hokuyo_min_intensity_ |
hack to mimic hokuyo intensity cutoff of 100 More... | |
int | laser_connect_count_ |
Keep track of number of connctions. More... | |
ros::CallbackQueue | laser_queue_ |
common::Time | last_update_time_ |
boost::mutex | lock |
A mutex to lock access to fields that are used in message callbacks. More... | |
transport::NodePtr | node_ |
sensors::RaySensorPtr | parent_ray_sensor_ |
sensors::SensorPtr | parent_sensor_ |
The parent sensor. More... | |
ros::Publisher | pub_ |
std::string | robot_namespace_ |
for setting ROS name space More... | |
ros::NodeHandle * | rosnode_ |
pointer to ros node More... | |
common::Time | sim_time_ |
std::string | topic_name_ |
topic name More... | |
double | update_rate_ |
update rate of this sensor More... | |
physics::WorldPtr | world_ |
Definition at line 49 of file gazebo_ros_block_laser.h.
gazebo::GazeboRosBlockLaser::GazeboRosBlockLaser | ( | ) |
Constructor.
parent | The parent entity, must be a Model or a Sensor |
Definition at line 53 of file gazebo_ros_block_laser.cpp.
gazebo::GazeboRosBlockLaser::~GazeboRosBlockLaser | ( | ) |
Destructor.
Definition at line 59 of file gazebo_ros_block_laser.cpp.
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Gaussian noise generator.
Definition at line 377 of file gazebo_ros_block_laser.cpp.
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Definition at line 192 of file gazebo_ros_block_laser.cpp.
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Definition at line 199 of file gazebo_ros_block_laser.cpp.
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Definition at line 394 of file gazebo_ros_block_laser.cpp.
void gazebo::GazeboRosBlockLaser::Load | ( | sensors::SensorPtr | _parent, |
sdf::ElementPtr | _sdf | ||
) |
Load the plugin.
take | in SDF root element |
Definition at line 73 of file gazebo_ros_block_laser.cpp.
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Update the controller.
Definition at line 209 of file gazebo_ros_block_laser.cpp.
void gazebo::GazeboRosBlockLaser::OnStats | ( | const boost::shared_ptr< msgs::WorldStatistics const > & | _msg | ) |
Definition at line 404 of file gazebo_ros_block_laser.cpp.
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Put laser data to the ROS topic.
Definition at line 234 of file gazebo_ros_block_laser.cpp.
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Definition at line 116 of file gazebo_ros_block_laser.h.
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ros message
Definition at line 86 of file gazebo_ros_block_laser.h.
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frame transform name, should match link name
Definition at line 92 of file gazebo_ros_block_laser.h.
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Gaussian noise.
Definition at line 95 of file gazebo_ros_block_laser.h.
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hack to mimic hokuyo intensity cutoff of 100
Definition at line 105 of file gazebo_ros_block_laser.h.
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Keep track of number of connctions.
Definition at line 71 of file gazebo_ros_block_laser.h.
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Definition at line 114 of file gazebo_ros_block_laser.h.
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Definition at line 68 of file gazebo_ros_block_laser.h.
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A mutex to lock access to fields that are used in message callbacks.
Definition at line 101 of file gazebo_ros_block_laser.h.
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Definition at line 119 of file gazebo_ros_block_laser.h.
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Definition at line 79 of file gazebo_ros_block_laser.h.
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The parent sensor.
Definition at line 78 of file gazebo_ros_block_laser.h.
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Definition at line 83 of file gazebo_ros_block_laser.h.
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for setting ROS name space
Definition at line 111 of file gazebo_ros_block_laser.h.
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pointer to ros node
Definition at line 82 of file gazebo_ros_block_laser.h.
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Definition at line 120 of file gazebo_ros_block_laser.h.
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topic name
Definition at line 89 of file gazebo_ros_block_laser.h.
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update rate of this sensor
Definition at line 108 of file gazebo_ros_block_laser.h.
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Definition at line 76 of file gazebo_ros_block_laser.h.