ROS implementation of the ConveyorBeltPlugin plugin. More...

#include <ROSConveyorBeltPlugin.hh>

Inheritance diagram for gazebo::ROSConveyorBeltPlugin:

Public Member Functions
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin. More...

bool	OnControlCommand (osrf_gear::ConveyorBeltControl::Request &_req, osrf_gear::ConveyorBeltControl::Response &_res)
	Receives requests on the conveyor belt's topic. More...

	ROSConveyorBeltPlugin ()
	Constructor. More...

virtual	~ROSConveyorBeltPlugin ()
	Destructor. More...

Public Member Functions inherited from gazebo::ConveyorBeltPlugin
	ConveyorBeltPlugin ()
	Constructor. More...

void	SetVelocity (double velocity)
	Set the state of the conveyor belt. More...

virtual	~ConveyorBeltPlugin ()
	Destructor. More...

Public Member Functions inherited from gazebo::SideContactPlugin
	SideContactPlugin ()
	Constructor. More...

virtual	~SideContactPlugin ()
	Destructor. More...

Public Attributes
ros::ServiceServer	controlService_
	Receives service calls to control the conveyor belt. More...

Private Attributes
std::string	robotNamespace_
	for setting ROS name space More...

ros::NodeHandle *	rosnode_
	ros node handle More...

Additional Inherited Members
Protected Member Functions inherited from gazebo::ConveyorBeltPlugin
void	ActOnContactingLinks (double velocity)
	Act on links that are ontop of the belt. More...

void	OnControlCommand (ConstHeaderPtr &_msg)
	Callback for responding to control commands. More...

void	OnUpdate (const common::UpdateInfo &_info)
	Callback that receives the world update event. More...

std::string	Topic (std::string topicName) const
	Generate a scoped topic name from a local one. More...

Protected Member Functions inherited from gazebo::SideContactPlugin
virtual void	CalculateContactingLinks ()
	Determine which links are in contact with the side of the parent link. More...

virtual void	CalculateContactingModels ()
	Determine which models are in contact with the side of the parent link. More...

bool	FindContactSensor ()
	Iterate through links of model to find sensor with the specified name. More...

virtual void	OnContactsReceived (ConstContactsPtr &_msg)
	Callback that recieves the contact sensor's messages. More...

Protected Attributes inherited from gazebo::ConveyorBeltPlugin
double	beltVelocity
	Belt velocity (m/s) More...

transport::SubscriberPtr	controlCommandSub
	Subscriber for the control commands. More...

std::mutex	mutex
	Mutex to protect the belt velocity. More...

transport::NodePtr	node
	Pointer to this node for publishing/subscribing. More...

ignition::math::Vector3d	velocityAxis
	Axis for belt velocity in local frame (+Y by default) More...

Protected Attributes inherited from gazebo::SideContactPlugin
std::string	collisionName
	Name of the collision of the parent's link. More...

std::set< physics::LinkPtr >	contactingLinks
	Set of pointers to links that have collisions with the parent link's side. More...

std::set< physics::ModelPtr >	contactingModels
	Set of pointers to models that have collisions with the parent link's side. More...

std::string	contactSensorName
	Name of the contact sensor. More...

transport::SubscriberPtr	contactSub
	Subscriber for the contact topic. More...

physics::ModelPtr	model
	Pointer to the model. More...

boost::mutex	mutex
	Mutex for protecting contacts msg. More...

msgs::Contacts	newestContactsMsg
	Contacts msg received. More...

bool	newMsg
	Flag for new contacts message. More...

transport::NodePtr	node
	Pointer to this node for publishing/subscribing. More...

physics::LinkPtr	parentLink
	Pointer to the sensor's parent's link. More...

sensors::ContactSensorPtr	parentSensor
	Pointer to the contact sensor. More...

std::string	scopedContactSensorName
	Scoped name of the contact sensor. More...

ignition::math::Vector3d	sideNormal
	The normal, in local frame, to the side that is to have contacts monitored (default (0, 0, 1)) More...

event::ConnectionPtr	updateConnection
	Pointer to the update event connection. More...

physics::WorldPtr	world
	Pointer to the world. More...

Detailed Description

ROS implementation of the ConveyorBeltPlugin plugin.

Definition at line 33 of file ROSConveyorBeltPlugin.hh.

Constructor & Destructor Documentation

ROSConveyorBeltPlugin::ROSConveyorBeltPlugin ( )

Constructor.

Definition at line 26 of file ROSConveyorBeltPlugin.cc.

ROSConveyorBeltPlugin::~ROSConveyorBeltPlugin ( )

virtual

Destructor.

Definition at line 31 of file ROSConveyorBeltPlugin.cc.

Member Function Documentation

void ROSConveyorBeltPlugin::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

virtual

Load the plugin.

Parameters

[in]	_parent	Pointer to the parent model
[in]	_sdf	Pointer to the SDF element of the plugin.

Reimplemented from gazebo::ConveyorBeltPlugin.

Definition at line 37 of file ROSConveyorBeltPlugin.cc.

bool ROSConveyorBeltPlugin::OnControlCommand	(	osrf_gear::ConveyorBeltControl::Request &	_req,
		osrf_gear::ConveyorBeltControl::Response &	_res
	)

Receives requests on the conveyor belt's topic.

Parameters

[in]	_req	The desired state of the conveyor belt.
[in]	_res	If the service succeeded or not.

Definition at line 69 of file ROSConveyorBeltPlugin.cc.

Member Data Documentation

ros::ServiceServer gazebo::ROSConveyorBeltPlugin::controlService_

Receives service calls to control the conveyor belt.

Definition at line 60 of file ROSConveyorBeltPlugin.hh.

std::string gazebo::ROSConveyorBeltPlugin::robotNamespace_

private

for setting ROS name space

Definition at line 54 of file ROSConveyorBeltPlugin.hh.

ros::NodeHandle* gazebo::ROSConveyorBeltPlugin::rosnode_

private

ros node handle

Definition at line 57 of file ROSConveyorBeltPlugin.hh.

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

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation