#include <leica_plugin.h>

Inheritance diagram for gazebo::LeicaPlugin:

Public Member Functions
void	configureScanWindow (const sensor_msgs::RegionOfInterestConstPtr &_msg)
	Configure the scan window from a topic. More...

	LeicaPlugin ()
	Construct a new Gazebo ROS Laser object. More...

void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin controller. More...

	~LeicaPlugin ()
	Destroy the Gazebo ROS Laser object. More...

Private Member Functions
void	callbacksQueueHelperThread ()
	Thread that calls all functions in the callback queue when resources are available. More...

void	connectToLaser ()
	Register de new laser and connect to its topic. More...

void	disconnectFromLaser ()
	Unregister the laser. More...

void	gazeboLoaderThread ()
	Load the sensor controller. More...

void	gazeboMsgToROSMsg (ConstLaserScanStampedPtr &_msg)
	Tailor the gazebo message to the ROS format. More...

Private Attributes
ros::CallbackQueue	cb_queue_
	Queue for the callback functions. More...

std::condition_variable	condition_variable_
	Variable used to wait until the configuration of the scan window has been completed. More...

boost::thread	deferred_load_thread_
	Object for the sensor controller thread. More...

std::string	frame_name_
	Stores the name of the root of the reference system tree. More...

gazebo::transport::NodePtr	gazebo_node_
	Node for gazebo. More...

int	laser_connect_count_
	A counter to register the number of laser sensors in use. More...

gazebo::transport::SubscriberPtr	laser_scan_sub_
	Gazebo part of the laser sensor subscriber. More...

std::mutex	mutex_
	Mutex used so that no laser sensor data is published until the configuration of the scan window has been completed. More...

std::string	namespace_
	The namespace of the Leica station. More...

ros::NodeHandle *	nh_
	Pointer to the ROS node. More...

sensors::GpuRaySensorPtr	parent_ray_sensor_
	Pointer to the laser sensor object. More...

PubMultiQueue	pmq_
	Object for the ROS queue system. More...

ros::Publisher	pub_
	Publisher for the laser sensor. More...

PubQueue< sensor_msgs::LaserScan >::Ptr	pub_queue_
	Publisher queue. More...

std::thread	queue_helper_thread_
	Thread that calls all functions in the callback queue when resources are available. More...

sdf::ElementPtr	sdf_
	Pointer to the *.sdf file. More...

unsigned int	seed_
	Seed for the Gaussian noise generator. More...

bool	start_laser_
	Flag to start the laser after the scan window has been set. More...

ros::Subscriber	sub_
	Subscriber for the laser sensor. More...

std::string	tf_prefix_
	tf_prefix_ as the namespace More...

std::string	topic_name_
	Saves the name of the topic where the laser scanner publishes what it reads. More...

physics::WorldPtr	world_
	Pointer to the virtual world where the simulation takes place. More...

std::string	world_name_
	Stores the name of the virtual world where the simulation takes place. More...

Detailed Description

Definition at line 56 of file leica_plugin.h.

Constructor & Destructor Documentation

gazebo::LeicaPlugin::LeicaPlugin ( )

Construct a new Gazebo ROS Laser object.

Definition at line 56 of file leica_plugin.cpp.

gazebo::LeicaPlugin::~LeicaPlugin ( )

Destroy the Gazebo ROS Laser object.

Definition at line 62 of file leica_plugin.cpp.

Member Function Documentation

void gazebo::LeicaPlugin::callbacksQueueHelperThread ( )

private

Thread that calls all functions in the callback queue when resources are available.

Definition at line 250 of file leica_plugin.cpp.

void gazebo::LeicaPlugin::configureScanWindow ( const sensor_msgs::RegionOfInterestConstPtr & _msg )

Configure the scan window from a topic.

Parameters

_msg	Message with the scan window configuration format

Definition at line 218 of file leica_plugin.cpp.

void gazebo::LeicaPlugin::connectToLaser ( )

private

Register de new laser and connect to its topic.

Definition at line 177 of file leica_plugin.cpp.

void gazebo::LeicaPlugin::disconnectFromLaser ( )

private

Unregister the laser.

Definition at line 192 of file leica_plugin.cpp.

void gazebo::LeicaPlugin::gazeboLoaderThread ( )

private

Load the sensor controller.

Definition at line 137 of file leica_plugin.cpp.

void gazebo::LeicaPlugin::gazeboMsgToROSMsg ( ConstLaserScanStampedPtr & _msg )

private

Tailor the gazebo message to the ROS format.

Parameters

_msg	Message to tailor

Definition at line 199 of file leica_plugin.cpp.

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

Load the plugin controller.

Parameters

_parent	Pointer to the laser sensor
_sdf	Pointer to the *.sdf file with the Leica configuration

Definition at line 71 of file leica_plugin.cpp.

Member Data Documentation

ros::CallbackQueue gazebo::LeicaPlugin::cb_queue_

private

Queue for the callback functions.

Definition at line 218 of file leica_plugin.h.

std::condition_variable gazebo::LeicaPlugin::condition_variable_

private

Variable used to wait until the configuration of the scan window has been completed.

Definition at line 182 of file leica_plugin.h.

boost::thread gazebo::LeicaPlugin::deferred_load_thread_

private

Object for the sensor controller thread.

Definition at line 254 of file leica_plugin.h.

std::string gazebo::LeicaPlugin::frame_name_

private

Stores the name of the root of the reference system tree.

Definition at line 158 of file leica_plugin.h.

gazebo::transport::NodePtr gazebo::LeicaPlugin::gazebo_node_

private

Node for gazebo.

Definition at line 224 of file leica_plugin.h.

int gazebo::LeicaPlugin::laser_connect_count_

private

A counter to register the number of laser sensors in use.

Definition at line 134 of file leica_plugin.h.

gazebo::transport::SubscriberPtr gazebo::LeicaPlugin::laser_scan_sub_

private

Gazebo part of the laser sensor subscriber.

Definition at line 230 of file leica_plugin.h.

std::mutex gazebo::LeicaPlugin::mutex_

private

Mutex used so that no laser sensor data is published until the configuration of the scan window has been completed.

Definition at line 176 of file leica_plugin.h.

std::string gazebo::LeicaPlugin::namespace_

private

The namespace of the Leica station.

Definition at line 170 of file leica_plugin.h.

ros::NodeHandle* gazebo::LeicaPlugin::nh_

private

Pointer to the ROS node.

Definition at line 200 of file leica_plugin.h.

sensors::GpuRaySensorPtr gazebo::LeicaPlugin::parent_ray_sensor_

private

Pointer to the laser sensor object.

Definition at line 194 of file leica_plugin.h.

PubMultiQueue gazebo::LeicaPlugin::pmq_

private

Object for the ROS queue system.

Definition at line 242 of file leica_plugin.h.

ros::Publisher gazebo::LeicaPlugin::pub_

private

Publisher for the laser sensor.

Definition at line 206 of file leica_plugin.h.

PubQueue<sensor_msgs::LaserScan>::Ptr gazebo::LeicaPlugin::pub_queue_

private

Publisher queue.

Definition at line 236 of file leica_plugin.h.

std::thread gazebo::LeicaPlugin::queue_helper_thread_

private

Thread that calls all functions in the callback queue when resources are available.

Definition at line 188 of file leica_plugin.h.

sdf::ElementPtr gazebo::LeicaPlugin::sdf_

private

Pointer to the *.sdf file.

Definition at line 248 of file leica_plugin.h.

unsigned int gazebo::LeicaPlugin::seed_

private

Seed for the Gaussian noise generator.

Definition at line 122 of file leica_plugin.h.

bool gazebo::LeicaPlugin::start_laser_

private

Flag to start the laser after the scan window has been set.

Definition at line 128 of file leica_plugin.h.

ros::Subscriber gazebo::LeicaPlugin::sub_

private

Subscriber for the laser sensor.

Definition at line 212 of file leica_plugin.h.

std::string gazebo::LeicaPlugin::tf_prefix_

private

tf_prefix_ as the namespace

Definition at line 164 of file leica_plugin.h.

std::string gazebo::LeicaPlugin::topic_name_

private

Saves the name of the topic where the laser scanner publishes what it reads.

Definition at line 152 of file leica_plugin.h.

physics::WorldPtr gazebo::LeicaPlugin::world_

private

Pointer to the virtual world where the simulation takes place.

Definition at line 146 of file leica_plugin.h.

std::string gazebo::LeicaPlugin::world_name_

private

Stores the name of the virtual world where the simulation takes place.

Definition at line 140 of file leica_plugin.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation