#include <mvsim_node_core.h>

Classes
struct	MVSimVisitor_notifyROSWorldIsUpdated

class	MyWorld

struct	TPubSubPerVehicle

struct	TThreadParams

Public Member Functions
void	configCallback (mvsim::mvsimNodeConfig &config, uint32_t level)

void	loadWorldModel (const std::string &world_xml_file)

	MVSimNode (ros::NodeHandle &n)

void	spin ()
	Process pending msgs, run real-time simulation, etc. More...

	~MVSimNode ()

Public Attributes
int	gui_refresh_period_ms_
	Default:25. More...

bool	m_do_fake_localization

bool	m_show_gui
	Default= true. More...

double	m_transform_tolerance

MyWorld	mvsim_world_

double	realtime_factor_
	everything: vehicles, obstacles, etc.) More...

Protected Member Functions
void	initPubSubs (TPubSubPerVehicle &out_pubsubs, mvsim::VehicleBase *veh)

void	notifyROSWorldIsUpdated ()

void	onROSMsgCmdVel (const geometry_msgs::Twist::ConstPtr &cmd, mvsim::VehicleBase *veh)

void	sendStaticTF (const std::string &frame_id, const std::string &child_frame_id, const tf::Transform &tx, const ros::Time &stamp)

void	spinNotifyROS ()

std::string	vehVarName (const std::string &sVarName, const mvsim::VehicleBase *veh) const

Static Protected Member Functions
static void	thread_update_GUI (TThreadParams &thread_params)

Protected Attributes
ros::Time	m_base_last_cmd
	Last time we received a vel_cmd (for watchdog) More...

ros::Duration	m_base_watchdog_timeout

rosgraph_msgs::Clock	m_clockMsg

mvsim::World::TGUIKeyEvent	m_gui_key_events
	"focused" vehicle) More...

ros::NodeHandle	m_localn

std::string	m_msg2gui

ros::NodeHandle &	m_n
	published TFs More...

double	m_period_ms_publish_tf
	loadWorldModel() More...

double	m_period_ms_teleop_refresh

ros::Publisher	m_pub_clock

ros::Publisher	m_pub_map_metadata
	used for simul_map publication More...

ros::Publisher	m_pub_map_ros

std::vector< TPubSubPerVehicle >	m_pubsub_vehicles

ros::Time	m_sim_time
	Current simulation time. More...

tf2_ros::StaticTransformBroadcaster	m_static_tf_br
	For sending STATIC tf. More...

size_t	m_teleop_idx_veh

tf::TransformBroadcaster	m_tf_br
	Use to send data to TF. More...

const tf::Transform	m_tfIdentity
	Unit transform (const, created only once) More...

mrpt::system::CTicTac	m_tim_publish_tf
	TF transforms & /*/odom topics (In ms) More...

mrpt::system::CTicTac	m_tim_teleop_refresh

mrpt::system::CTicTac	realtime_tictac_

double	t_old_

std::thread	thGUI_

TThreadParams	thread_params_

bool	world_init_ok_

Detailed Description

A class to wrap libmvsim as a ROS node

Definition at line 36 of file mvsim_node_core.h.

Constructor & Destructor Documentation

MVSimNode::MVSimNode ( ros::NodeHandle & n )

Constructor.

Definition at line 29 of file mvsim_node.cpp.

MVSimNode::~MVSimNode ( )

Destructor.

Definition at line 103 of file mvsim_node.cpp.

Member Function Documentation

void MVSimNode::configCallback	(	mvsim::mvsimNodeConfig &	config,
		uint32_t	level
	)

Callback function for dynamic reconfigure server

Definition at line 113 of file mvsim_node.cpp.

void MVSimNode::initPubSubs	(	TPubSubPerVehicle &	pubsubs,
		mvsim::VehicleBase *	veh
	)

protected

initPubSubs(), called from notifyROSWorldIsUpdated() Initialize all pub/subs required for each vehicle, for the specific vehicle veh

Initialize all pub/subs required for each vehicle, for the specific vehicle veh

Definition at line 326 of file mvsim_node.cpp.

void MVSimNode::loadWorldModel ( const std::string & world_xml_file )

Definition at line 80 of file mvsim_node.cpp.

void MVSimNode::notifyROSWorldIsUpdated ( )

protected

Publish relevant stuff whenever a new world model is loaded (grid maps, etc.)

Definition at line 288 of file mvsim_node.cpp.

void MVSimNode::onROSMsgCmdVel	(	const geometry_msgs::Twist::ConstPtr &	cmd,
		mvsim::VehicleBase *	veh
	)

protected

Definition at line 454 of file mvsim_node.cpp.

void MVSimNode::sendStaticTF	(	const std::string &	frame_id,
		const std::string &	child_frame_id,
		const tf::Transform &	tx,
		const ros::Time &	stamp
	)

protected

Definition at line 312 of file mvsim_node.cpp.

void MVSimNode::spin ( )

Process pending msgs, run real-time simulation, etc.

Definition at line 125 of file mvsim_node.cpp.

void MVSimNode::spinNotifyROS ( )

protected

Publish everything to be published at each simulation iteration

Definition at line 472 of file mvsim_node.cpp.

void MVSimNode::thread_update_GUI ( TThreadParams & thread_params )

staticprotected

Definition at line 231 of file mvsim_node.cpp.

std::string MVSimNode::vehVarName	(	const std::string &	sVarName,
		const mvsim::VehicleBase *	veh
	)		const

protected

Creates the string "/<VEH_NAME>/<VAR_NAME>" if there're more than one vehicle in the World, or "/<VAR_NAME>" otherwise.

Definition at line 722 of file mvsim_node.cpp.

Member Data Documentation

int MVSimNode::gui_refresh_period_ms_

Default:25.

Definition at line 67 of file mvsim_node_core.h.

ros::Time MVSimNode::m_base_last_cmd

protected

Last time we received a vel_cmd (for watchdog)

Definition at line 123 of file mvsim_node_core.h.

ros::Duration MVSimNode::m_base_watchdog_timeout

protected

Definition at line 124 of file mvsim_node_core.h.

rosgraph_msgs::Clock MVSimNode::m_clockMsg

protected

Definition at line 120 of file mvsim_node_core.h.

bool MVSimNode::m_do_fake_localization

Default=true. Behaves as

Definition at line 69 of file mvsim_node_core.h.

mvsim::World::TGUIKeyEvent MVSimNode::m_gui_key_events

protected

"focused" vehicle)

Definition at line 152 of file mvsim_node_core.h.

ros::NodeHandle MVSimNode::m_localn

protected

Definition at line 78 of file mvsim_node_core.h.

std::string MVSimNode::m_msg2gui

protected

Definition at line 153 of file mvsim_node_core.h.

ros::NodeHandle& MVSimNode::m_n

protected

published TFs

Definition at line 77 of file mvsim_node_core.h.

double MVSimNode::m_period_ms_publish_tf

protected

loadWorldModel()

Minimum period between publication of

Definition at line 141 of file mvsim_node_core.h.

double MVSimNode::m_period_ms_teleop_refresh

protected

Minimum period between update of

Definition at line 145 of file mvsim_node_core.h.

ros::Publisher MVSimNode::m_pub_clock

protected

Definition at line 83 of file mvsim_node_core.h.

ros::Publisher MVSimNode::m_pub_map_metadata

protected

used for simul_map publication

Definition at line 81 of file mvsim_node_core.h.

ros::Publisher MVSimNode::m_pub_map_ros

protected

Definition at line 81 of file mvsim_node_core.h.

std::vector<TPubSubPerVehicle> MVSimNode::m_pubsub_vehicles

protected

Pubs/Subs for each vehicle. Initialized by

Definition at line 105 of file mvsim_node_core.h.

bool MVSimNode::m_show_gui

Default= true.

Definition at line 68 of file mvsim_node_core.h.

ros::Time MVSimNode::m_sim_time

protected

Current simulation time.

Definition at line 121 of file mvsim_node_core.h.

tf2_ros::StaticTransformBroadcaster MVSimNode::m_static_tf_br

protected

For sending STATIC tf.

Definition at line 86 of file mvsim_node_core.h.

size_t MVSimNode::m_teleop_idx_veh

protected

for teleoperation from the GUI (selects the

Definition at line 150 of file mvsim_node_core.h.

tf::TransformBroadcaster MVSimNode::m_tf_br

protected

Use to send data to TF.

Definition at line 84 of file mvsim_node_core.h.

const tf::Transform MVSimNode::m_tfIdentity

protected

Unit transform (const, created only once)

Definition at line 126 of file mvsim_node_core.h.

mrpt::system::CTicTac MVSimNode::m_tim_publish_tf

protected

TF transforms & /*/odom topics (In ms)

Definition at line 143 of file mvsim_node_core.h.

mrpt::system::CTicTac MVSimNode::m_tim_teleop_refresh

protected

live info & read of teleop key strokes in GUI (In ms)

Definition at line 148 of file mvsim_node_core.h.

double MVSimNode::m_transform_tolerance

navigation/fake_localization for each vehicle without the need to launch additional nodes. (Default=0.1) Time tolerance for

Definition at line 73 of file mvsim_node_core.h.

MyWorld MVSimNode::mvsim_world_

The mvsim library simulated world (includes

Definition at line 63 of file mvsim_node_core.h.

double MVSimNode::realtime_factor_

everything: vehicles, obstacles, etc.)

(Defaul=1.0) >1: speed-up, <1: slow-down

Definition at line 66 of file mvsim_node_core.h.

mrpt::system::CTicTac MVSimNode::realtime_tictac_

protected

Definition at line 135 of file mvsim_node_core.h.

double MVSimNode::t_old_

protected

Definition at line 137 of file mvsim_node_core.h.

std::thread MVSimNode::thGUI_

protected

Definition at line 155 of file mvsim_node_core.h.

TThreadParams MVSimNode::thread_params_

protected

Definition at line 134 of file mvsim_node_core.h.

bool MVSimNode::world_init_ok_

protected

will be true after a success call to

Definition at line 138 of file mvsim_node_core.h.

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

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation