#include <gazebo_ros_camera.h>
Public Member Functions | |
GazeboRosCamera () | |
Constructor. More... | |
void | Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf) |
Load the plugin. More... | |
~GazeboRosCamera () | |
Destructor. More... | |
Protected Member Functions | |
virtual void | OnNewFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format) |
Update the controller. More... | |
Additional Inherited Members | |
Private Member Functions inherited from gazebo::GazeboRosCameraUtils | |
GazeboRosCameraUtils () | |
Constructor. More... | |
void | Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix="") |
Load the plugin. More... | |
void | Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix, double _hack_baseline) |
Load the plugin. More... | |
event::ConnectionPtr | OnLoad (const boost::function< void()> &) |
~GazeboRosCameraUtils () | |
Destructor. More... | |
void | CameraQueueThread () |
virtual bool | CanTriggerCamera () |
void | ImageConnect () |
void | ImageDisconnect () |
void | PublishCameraInfo (ros::Publisher camera_info_publisher) |
Publish CameraInfo to the ROS topic. More... | |
void | PublishCameraInfo (common::Time &last_update_time) |
void | PublishCameraInfo () |
void | PutCameraData (const unsigned char *_src) |
Put camera data to the ROS topic. More... | |
void | PutCameraData (const unsigned char *_src, common::Time &last_update_time) |
virtual void | TriggerCamera () |
Private Attributes inherited from gazebo::GazeboRosCameraUtils | |
bool | border_crop_ |
boost::thread | callback_queue_thread_ |
rendering::CameraPtr | camera_ |
boost::shared_ptr< camera_info_manager::CameraInfoManager > | camera_info_manager_ |
ros::Publisher | camera_info_pub_ |
camera info More... | |
std::string | camera_info_topic_name_ |
ros::CallbackQueue | camera_queue_ |
double | cx_ |
double | cx_prime_ |
double | cy_ |
unsigned int | depth_ |
double | distortion_k1_ |
double | distortion_k2_ |
double | distortion_k3_ |
double | distortion_t1_ |
double | distortion_t2_ |
double | focal_length_ |
std::string | format_ |
std::string | frame_name_ |
ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached. More... | |
double | hack_baseline_ |
unsigned int | height_ |
boost::shared_ptr< int > | image_connect_count_ |
Keep track of number of image connections. More... | |
boost::shared_ptr< boost::mutex > | image_connect_count_lock_ |
A mutex to lock access to image_connect_count_. More... | |
sensor_msgs::Image | image_msg_ |
ROS image message. More... | |
image_transport::Publisher | image_pub_ |
std::string | image_topic_name_ |
ROS image topic name. More... | |
bool | initialized_ |
True if camera util is initialized. More... | |
common::Time | last_info_update_time_ |
common::Time | last_update_time_ |
boost::mutex | lock_ |
A mutex to lock access to fields that are used in ROS message callbacks. More... | |
sensors::SensorPtr | parentSensor_ |
ros::NodeHandle * | rosnode_ |
A pointer to the ROS node. A node will be instantiated if it does not exist. More... | |
common::Time | sensor_update_time_ |
int | skip_ |
std::string | trigger_topic_name_ |
ROS trigger topic name. More... | |
std::string | type_ |
size of image buffer More... | |
double | update_period_ |
double | update_rate_ |
update rate of this sensor More... | |
boost::shared_ptr< bool > | was_active_ |
Keep track when we activate this camera through ros subscription, was it already active? resume state when unsubscribed. More... | |
unsigned int | width_ |
physics::WorldPtr | world |
physics::WorldPtr | world_ |
Definition at line 34 of file gazebo_ros_camera.h.
gazebo::GazeboRosCamera::GazeboRosCamera | ( | ) |
Constructor.
parent | The parent entity, must be a Model or a Sensor |
Definition at line 40 of file gazebo_ros_camera.cpp.
gazebo::GazeboRosCamera::~GazeboRosCamera | ( | ) |
Destructor.
Definition at line 46 of file gazebo_ros_camera.cpp.
void gazebo::GazeboRosCamera::Load | ( | sensors::SensorPtr | _parent, |
sdf::ElementPtr | _sdf | ||
) |
Load the plugin.
take | in SDF root element |
Definition at line 51 of file gazebo_ros_camera.cpp.
|
protectedvirtual |
Update the controller.
Definition at line 75 of file gazebo_ros_camera.cpp.