gazebo::GazeboRosMoveItPlanningScene Class Reference

#include <gazebo_ros_moveit_planning_scene.h>

Inheritance diagram for gazebo::GazeboRosMoveItPlanningScene:

Public Member Functions
	GazeboRosMoveItPlanningScene ()
	Constructor. More...
virtual	~GazeboRosMoveItPlanningScene ()
	Destructor. More...

Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void	subscriber_connected ()
virtual void	UpdateCB ()

Private Member Functions
bool	PublishPlanningSceneCB (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
	publish the complete planning scene More...
void	QueueThread ()
	The custom callback queue thread function. More...

Private Attributes
event::ConnectionPtr	add_connection_
boost::thread	callback_queue_thread_
	Thead object for the running callback Thread. More...
std::map< std::string, moveit_msgs::CollisionObject >	collision_object_map_
event::ConnectionPtr	delete_connection_
ros::Time	last_publish_time_
physics::ModelPtr	model_
	A pointer to the Model of the robot doing the planning. More...
std::string	model_name_
boost::mutex	mutex_
	A mutex to lock access to fields that are used in ROS message callbacks. More...
moveit_msgs::PlanningScene	planning_scene_msg_
	Container for the planning scene. More...
ros::Publisher	planning_scene_pub_
bool	publish_full_scene_
ros::Duration	publish_period_
ros::ServiceServer	publish_planning_scene_service_
ros::CallbackQueue	queue_
std::string	robot_name_
std::string	robot_namespace_
	for setting ROS name space More...
boost::scoped_ptr< ros::NodeHandle >	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist. More...
std::string	scene_name_
	The MoveIt scene name. More...
std::string	topic_name_
	ROS topic name inputs. More...
event::ConnectionPtr	update_connection_
physics::WorldPtr	world_
	A pointer to the gazebo world. More...

Detailed Description

Definition at line 91 of file gazebo_ros_moveit_planning_scene.h.

Constructor & Destructor Documentation

gazebo::GazeboRosMoveItPlanningScene::GazeboRosMoveItPlanningScene

(

)

Constructor.

Definition at line 44 of file gazebo_ros_moveit_planning_scene.cpp.

gazebo::GazeboRosMoveItPlanningScene::~GazeboRosMoveItPlanningScene ( )

virtual

Destructor.

Definition at line 50 of file gazebo_ros_moveit_planning_scene.cpp.

Member Function Documentation

void gazebo::GazeboRosMoveItPlanningScene::Load ( physics::ModelPtr  _model, sdf::ElementPtr  _sdf  )

protected

Definition at line 66 of file gazebo_ros_moveit_planning_scene.cpp.

bool gazebo::GazeboRosMoveItPlanningScene::PublishPlanningSceneCB ( std_srvs::Empty::Request &  req, std_srvs::Empty::Response &  resp  )

private

publish the complete planning scene

Definition at line 152 of file gazebo_ros_moveit_planning_scene.cpp.

void gazebo::GazeboRosMoveItPlanningScene::QueueThread ( )

private

The custom callback queue thread function.

Definition at line 562 of file gazebo_ros_moveit_planning_scene.cpp.

void gazebo::GazeboRosMoveItPlanningScene::subscriber_connected ( )

protected

Definition at line 144 of file gazebo_ros_moveit_planning_scene.cpp.

void gazebo::GazeboRosMoveItPlanningScene::UpdateCB ( )

protectedvirtual

Definition at line 166 of file gazebo_ros_moveit_planning_scene.cpp.

Member Data Documentation

event::ConnectionPtr gazebo::GazeboRosMoveItPlanningScene::add_connection_

private

Definition at line 149 of file gazebo_ros_moveit_planning_scene.h.

boost::thread gazebo::GazeboRosMoveItPlanningScene::callback_queue_thread_

private

Thead object for the running callback Thread.

Definition at line 142 of file gazebo_ros_moveit_planning_scene.h.

std::map<std::string, moveit_msgs::CollisionObject> gazebo::GazeboRosMoveItPlanningScene::collision_object_map_

private

Definition at line 145 of file gazebo_ros_moveit_planning_scene.h.

event::ConnectionPtr gazebo::GazeboRosMoveItPlanningScene::delete_connection_

private

Definition at line 150 of file gazebo_ros_moveit_planning_scene.h.

ros::Time gazebo::GazeboRosMoveItPlanningScene::last_publish_time_

private

Definition at line 156 of file gazebo_ros_moveit_planning_scene.h.

physics::ModelPtr gazebo::GazeboRosMoveItPlanningScene::model_

private

A pointer to the Model of the robot doing the planning.

Definition at line 119 of file gazebo_ros_moveit_planning_scene.h.

std::string gazebo::GazeboRosMoveItPlanningScene::model_name_

private

Definition at line 134 of file gazebo_ros_moveit_planning_scene.h.

boost::mutex gazebo::GazeboRosMoveItPlanningScene::mutex_

private

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

Definition at line 127 of file gazebo_ros_moveit_planning_scene.h.

moveit_msgs::PlanningScene gazebo::GazeboRosMoveItPlanningScene::planning_scene_msg_

private

Container for the planning scene.

Definition at line 144 of file gazebo_ros_moveit_planning_scene.h.

ros::Publisher gazebo::GazeboRosMoveItPlanningScene::planning_scene_pub_

private

Definition at line 123 of file gazebo_ros_moveit_planning_scene.h.

bool gazebo::GazeboRosMoveItPlanningScene::publish_full_scene_

private

Definition at line 153 of file gazebo_ros_moveit_planning_scene.h.

ros::Duration gazebo::GazeboRosMoveItPlanningScene::publish_period_

private

Definition at line 155 of file gazebo_ros_moveit_planning_scene.h.

ros::ServiceServer gazebo::GazeboRosMoveItPlanningScene::publish_planning_scene_service_

private

Definition at line 124 of file gazebo_ros_moveit_planning_scene.h.

ros::CallbackQueue gazebo::GazeboRosMoveItPlanningScene::queue_

private

Definition at line 140 of file gazebo_ros_moveit_planning_scene.h.

std::string gazebo::GazeboRosMoveItPlanningScene::robot_name_

private

Definition at line 133 of file gazebo_ros_moveit_planning_scene.h.

std::string gazebo::GazeboRosMoveItPlanningScene::robot_namespace_

private

for setting ROS name space

Definition at line 137 of file gazebo_ros_moveit_planning_scene.h.

boost::scoped_ptr<ros::NodeHandle> gazebo::GazeboRosMoveItPlanningScene::rosnode_

private

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 122 of file gazebo_ros_moveit_planning_scene.h.

std::string gazebo::GazeboRosMoveItPlanningScene::scene_name_

private

The MoveIt scene name.

Definition at line 132 of file gazebo_ros_moveit_planning_scene.h.

std::string gazebo::GazeboRosMoveItPlanningScene::topic_name_

private

ROS topic name inputs.

Definition at line 130 of file gazebo_ros_moveit_planning_scene.h.

event::ConnectionPtr gazebo::GazeboRosMoveItPlanningScene::update_connection_

private

Definition at line 148 of file gazebo_ros_moveit_planning_scene.h.

physics::WorldPtr gazebo::GazeboRosMoveItPlanningScene::world_

private

A pointer to the gazebo world.

Definition at line 116 of file gazebo_ros_moveit_planning_scene.h.

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

• gazebo_ros_moveit_planning_scene.h
• gazebo_ros_moveit_planning_scene.cpp