Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
gazebo::ROSBaseModelPlugin Class Reference

#include <ROSBaseModelPlugin.hh>

Inheritance diagram for gazebo::ROSBaseModelPlugin:
Inheritance graph
[legend]

Public Member Functions

 ROSBaseModelPlugin ()
 Class constructor. More...
 
virtual ~ROSBaseModelPlugin ()
 Class destructor. More...
 
- Public Member Functions inherited from gazebo::ROSBasePlugin
bool AddNoiseModel (std::string _name, double _sigma)
 Add noise normal distribution to the list. More...
 
bool InitBasePlugin (sdf::ElementPtr _sdf)
 Initialize base plugin. More...
 
 ROSBasePlugin ()
 Class constructor. More...
 
virtual ~ROSBasePlugin ()
 Class destructor. More...
 

Protected Member Functions

virtual void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
 Load plugin and its configuration from sdf,. More...
 
virtual bool OnUpdate (const common::UpdateInfo &)
 Update callback from simulation. More...
 
void SendLocalNEDTransform ()
 Returns true if the base_link_ned frame exists. More...
 
- Protected Member Functions inherited from gazebo::ROSBasePlugin
bool ChangeSensorState (uuv_sensor_ros_plugins_msgs::ChangeSensorState::Request &_req, uuv_sensor_ros_plugins_msgs::ChangeSensorState::Response &_res)
 Change sensor state (ON/OFF) More...
 
bool EnableMeasurement (const common::UpdateInfo &_info) const
 Enables generation of simulated measurement if the timeout since the last update has been reached. More...
 
double GetGaussianNoise (double _amp)
 Returns noise value for a function with zero mean from the default Gaussian noise model. More...
 
double GetGaussianNoise (std::string _name, double _amp)
 Returns noise value for a function with zero mean from a Gaussian noise model according to the model name. More...
 
void GetTFMessage (const tf::tfMessage::ConstPtr &_msg)
 Callback function for the static TF message. More...
 
bool IsOn ()
 Returns true if the plugin is activated. More...
 
void PublishState ()
 Publish the current state of the plugin. More...
 
void UpdateReferenceFramePose ()
 Updates the pose of the reference frame wrt the world frame. More...
 

Protected Attributes

bool enableLocalNEDFrame
 True if a the local NED frame needs to be broadcasted. More...
 
physics::LinkPtr link
 Pointer to the link. More...
 
ignition::math::Pose3d localNEDFrame
 Pose of the local NED frame wrt link frame. More...
 
physics::ModelPtr model
 Pointer to the model. More...
 
tf::TransformBroadcastertfBroadcaster
 TF broadcaster for the local NED frame. More...
 
tf::StampedTransform tfLocalNEDFrame
 Local NED TF frame. More...
 
- Protected Attributes inherited from gazebo::ROSBasePlugin
ros::ServiceServer changeSensorSrv
 Service server object. More...
 
bool gazeboMsgEnabled
 Flag set to true if the Gazebo sensors messages are supposed to be published as well (it can avoid unnecessary overhead in case) the sensor messages needed are only ROS messages. More...
 
transport::NodePtr gazeboNode
 Gazebo's node handle for transporting measurement messages. More...
 
transport::PublisherPtr gazeboSensorOutputPub
 Gazebo's publisher for transporting measurement messages. More...
 
std_msgs::Bool isOn
 Flag to control the generation of output messages. More...
 
bool isReferenceInit
 Flag set to true if reference frame initialized. More...
 
common::Time lastMeasurementTime
 (Simulation) time when the last sensor measurement was generated. More...
 
double noiseAmp
 Noise amplitude. More...
 
std::map< std::string, std::normal_distribution< double > > noiseModels
 Normal distribution describing the noise models. More...
 
double noiseSigma
 Noise standard deviation. More...
 
ros::Publisher pluginStatePub
 ROS publisher for the switchable sensor data. More...
 
ignition::math::Pose3d referenceFrame
 Pose of the reference frame wrt world frame. More...
 
std::string referenceFrameID
 Frame ID of the reference frame. More...
 
physics::LinkPtr referenceLink
 Reference link. More...
 
std::default_random_engine rndGen
 Pseudo random number generator. More...
 
std::string robotNamespace
 Robot namespace. More...
 
boost::shared_ptr< ros::NodeHandlerosNode
 ROS node handle for communication with ROS. More...
 
ros::Publisher rosSensorOutputPub
 Gazebo's publisher for transporting measurement messages. More...
 
std::string sensorOutputTopic
 Name of the sensor's output topic. More...
 
ros::Subscriber tfStaticSub
 ROS subscriber for the TF static reference frame. More...
 
event::ConnectionPtr updateConnection
 Pointer to the update event connection. More...
 
double updateRate
 Sensor update rate. More...
 
physics::WorldPtr world
 Pointer to the world. More...
 

Detailed Description

Definition at line 34 of file ROSBaseModelPlugin.hh.

Constructor & Destructor Documentation

gazebo::ROSBaseModelPlugin::ROSBaseModelPlugin ( )

Class constructor.

Definition at line 22 of file ROSBaseModelPlugin.cc.

gazebo::ROSBaseModelPlugin::~ROSBaseModelPlugin ( )
virtual

Class destructor.

Definition at line 37 of file ROSBaseModelPlugin.cc.

Member Function Documentation

void gazebo::ROSBaseModelPlugin::Load ( physics::ModelPtr  _model,
sdf::ElementPtr  _sdf 
)
protectedvirtual
bool gazebo::ROSBaseModelPlugin::OnUpdate ( const common::UpdateInfo &  )
protectedvirtual
void gazebo::ROSBaseModelPlugin::SendLocalNEDTransform ( )
protected

Returns true if the base_link_ned frame exists.

Definition at line 95 of file ROSBaseModelPlugin.cc.

Member Data Documentation

bool gazebo::ROSBaseModelPlugin::enableLocalNEDFrame
protected

True if a the local NED frame needs to be broadcasted.

Definition at line 56 of file ROSBaseModelPlugin.hh.

physics::LinkPtr gazebo::ROSBaseModelPlugin::link
protected

Pointer to the link.

Definition at line 53 of file ROSBaseModelPlugin.hh.

ignition::math::Pose3d gazebo::ROSBaseModelPlugin::localNEDFrame
protected

Pose of the local NED frame wrt link frame.

Definition at line 62 of file ROSBaseModelPlugin.hh.

physics::ModelPtr gazebo::ROSBaseModelPlugin::model
protected

Pointer to the model.

Definition at line 50 of file ROSBaseModelPlugin.hh.

tf::TransformBroadcaster* gazebo::ROSBaseModelPlugin::tfBroadcaster
protected

TF broadcaster for the local NED frame.

Definition at line 59 of file ROSBaseModelPlugin.hh.

tf::StampedTransform gazebo::ROSBaseModelPlugin::tfLocalNEDFrame
protected

Local NED TF frame.

Definition at line 65 of file ROSBaseModelPlugin.hh.


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


uuv_sensor_ros_plugins
Author(s): Musa Morena Marcusso Manhaes , Sebastian Scherer , Luiz Ricardo Douat
autogenerated on Thu Jun 18 2020 03:28:33