Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
gazebo::GazeboRosBlockLaser Class Reference

#include <gazebo_ros_block_laser.h>

Inheritance diagram for gazebo::GazeboRosBlockLaser:
Inheritance graph
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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::NodeHandlerosnode_
 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_
 

Detailed Description

Definition at line 49 of file gazebo_ros_block_laser.h.

Constructor & Destructor Documentation

gazebo::GazeboRosBlockLaser::GazeboRosBlockLaser ( )

Constructor.

Parameters
parentThe 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.

Member Function Documentation

double gazebo::GazeboRosBlockLaser::GaussianKernel ( double  mu,
double  sigma 
)
private

Gaussian noise generator.

Definition at line 377 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::LaserConnect ( )
private

Definition at line 192 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::LaserDisconnect ( )
private

Definition at line 199 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::LaserQueueThread ( )
private

Definition at line 394 of file gazebo_ros_block_laser.cpp.

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

Load the plugin.

Parameters
takein SDF root element

Definition at line 73 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::OnNewLaserScans ( )
protectedvirtual

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.

void gazebo::GazeboRosBlockLaser::PutLaserData ( common::Time &  _updateTime)
private

Put laser data to the ROS topic.

Definition at line 234 of file gazebo_ros_block_laser.cpp.

Member Data Documentation

boost::thread gazebo::GazeboRosBlockLaser::callback_laser_queue_thread_
private

Definition at line 116 of file gazebo_ros_block_laser.h.

sensor_msgs::PointCloud gazebo::GazeboRosBlockLaser::cloud_msg_
private

ros message

Definition at line 86 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::frame_name_
private

frame transform name, should match link name

Definition at line 92 of file gazebo_ros_block_laser.h.

double gazebo::GazeboRosBlockLaser::gaussian_noise_
private

Gaussian noise.

Definition at line 95 of file gazebo_ros_block_laser.h.

double gazebo::GazeboRosBlockLaser::hokuyo_min_intensity_
private

hack to mimic hokuyo intensity cutoff of 100

Definition at line 105 of file gazebo_ros_block_laser.h.

int gazebo::GazeboRosBlockLaser::laser_connect_count_
private

Keep track of number of connctions.

Definition at line 71 of file gazebo_ros_block_laser.h.

ros::CallbackQueue gazebo::GazeboRosBlockLaser::laser_queue_
private

Definition at line 114 of file gazebo_ros_block_laser.h.

common::Time gazebo::GazeboRosBlockLaser::last_update_time_
private

Definition at line 68 of file gazebo_ros_block_laser.h.

boost::mutex gazebo::GazeboRosBlockLaser::lock
private

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

Definition at line 101 of file gazebo_ros_block_laser.h.

transport::NodePtr gazebo::GazeboRosBlockLaser::node_
private

Definition at line 119 of file gazebo_ros_block_laser.h.

sensors::RaySensorPtr gazebo::GazeboRosBlockLaser::parent_ray_sensor_
private

Definition at line 79 of file gazebo_ros_block_laser.h.

sensors::SensorPtr gazebo::GazeboRosBlockLaser::parent_sensor_
private

The parent sensor.

Definition at line 78 of file gazebo_ros_block_laser.h.

ros::Publisher gazebo::GazeboRosBlockLaser::pub_
private

Definition at line 83 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::robot_namespace_
private

for setting ROS name space

Definition at line 111 of file gazebo_ros_block_laser.h.

ros::NodeHandle* gazebo::GazeboRosBlockLaser::rosnode_
private

pointer to ros node

Definition at line 82 of file gazebo_ros_block_laser.h.

common::Time gazebo::GazeboRosBlockLaser::sim_time_
private

Definition at line 120 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::topic_name_
private

topic name

Definition at line 89 of file gazebo_ros_block_laser.h.

double gazebo::GazeboRosBlockLaser::update_rate_
private

update rate of this sensor

Definition at line 108 of file gazebo_ros_block_laser.h.

physics::WorldPtr gazebo::GazeboRosBlockLaser::world_
private

Definition at line 76 of file gazebo_ros_block_laser.h.


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


gazebo_plugins
Author(s): John Hsu
autogenerated on Tue Apr 6 2021 02:19:40