39 #ifndef GAZEBO_ROS_SKID_STEER_DRIVE_H_ 40 #define GAZEBO_ROS_SKID_STEER_DRIVE_H_ 44 #include <gazebo/common/common.hh> 45 #include <gazebo/physics/physics.hh> 51 #include <geometry_msgs/Twist.h> 52 #include <nav_msgs/Odometry.h> 53 #include <nav_msgs/OccupancyGrid.h> 60 #include <boost/thread.hpp> 61 #include <boost/bind.hpp> 73 void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
122 void cmdVelCallback(
const geometry_msgs::Twist::ConstPtr& cmd_msg);
common::Time last_update_time_
std::string robot_namespace_
physics::JointPtr joints[4]
ros::Publisher odometry_publisher_
std::string left_front_joint_name_
std::string odometry_frame_
void publishOdometry(double step_time)
std::string right_rear_joint_name_
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
~GazeboRosSkidSteerDrive()
std::string command_topic_
std::string robot_base_frame_
void cmdVelCallback(const geometry_msgs::Twist::ConstPtr &cmd_msg)
std::string left_rear_joint_name_
event::ConnectionPtr update_connection_
tf::TransformBroadcaster * transform_broadcaster_
virtual void UpdateChild()
void getWheelVelocities()
std::string right_front_joint_name_
boost::thread callback_queue_thread_
GazeboRosSkidSteerDrive()
ros::CallbackQueue queue_
ros::Subscriber cmd_vel_subscriber_
ros::NodeHandle * rosnode_
std::string odometry_topic_