#include <ROSBasePlugin.hh>

Inheritance diagram for gazebo::ROSBasePlugin:

[legend]

Public Member Functions
bool	AddNoiseModel (std::string _name, double _sigma)
	Add noise normal distribution to the list. More...

bool	InitBasePlugin (sdf::ElementPtr _sdf)
	Initialize base plugin. More...

virtual bool	OnUpdate (const common::UpdateInfo &)=0
	Update callback from simulation. More...

	ROSBasePlugin ()
	Class constructor. More...

virtual	~ROSBasePlugin ()
	Class destructor. More...

Protected Member Functions
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
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::NodeHandle >	rosNode
	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 39 of file ROSBasePlugin.hh.

Constructor & Destructor Documentation

gazebo::ROSBasePlugin::ROSBasePlugin ( )

Class constructor.

Definition at line 21 of file ROSBasePlugin.cc.

gazebo::ROSBasePlugin::~ROSBasePlugin ( )

virtual

Class destructor.

Definition at line 37 of file ROSBasePlugin.cc.

Member Function Documentation

bool gazebo::ROSBasePlugin::AddNoiseModel	(	std::string	_name,
		double	_sigma
	)

Add noise normal distribution to the list.

Definition at line 214 of file ROSBasePlugin.cc.

bool gazebo::ROSBasePlugin::ChangeSensorState	(	uuv_sensor_ros_plugins_msgs::ChangeSensorState::Request &	_req,
		uuv_sensor_ros_plugins_msgs::ChangeSensorState::Response &	_res
	)

protected

Change sensor state (ON/OFF)

Definition at line 176 of file ROSBasePlugin.cc.

bool gazebo::ROSBasePlugin::EnableMeasurement ( const common::UpdateInfo & _info ) const

protected

Enables generation of simulated measurement if the timeout since the last update has been reached.

Definition at line 231 of file ROSBasePlugin.cc.

double gazebo::ROSBasePlugin::GetGaussianNoise ( double _amp )

protected

Returns noise value for a function with zero mean from the default Gaussian noise model.

Definition at line 200 of file ROSBasePlugin.cc.

double gazebo::ROSBasePlugin::GetGaussianNoise	(	std::string	_name,
		double	_amp
	)

protected

Returns noise value for a function with zero mean from a Gaussian noise model according to the model name.

Definition at line 206 of file ROSBasePlugin.cc.

void gazebo::ROSBasePlugin::GetTFMessage ( const tf::tfMessage::ConstPtr & _msg )

protected

Callback function for the static TF message.

Definition at line 147 of file ROSBasePlugin.cc.

bool gazebo::ROSBasePlugin::InitBasePlugin ( sdf::ElementPtr _sdf )

Initialize base plugin.

Definition at line 46 of file ROSBasePlugin.cc.

bool gazebo::ROSBasePlugin::IsOn ( )

protected

Returns true if the plugin is activated.

Definition at line 225 of file ROSBasePlugin.cc.

virtual bool gazebo::ROSBasePlugin::OnUpdate ( const common::UpdateInfo & )

pure virtual

Update callback from simulation.

Implemented in gazebo::IMUROSPlugin, gazebo::MagnetometerROSPlugin, gazebo::PoseGTROSPlugin, gazebo::DVLROSPlugin, gazebo::ROSBaseModelPlugin, gazebo::ROSBaseSensorPlugin, gazebo::CPCROSPlugin, gazebo::RPTROSPlugin, and gazebo::SubseaPressureROSPlugin.

void gazebo::ROSBasePlugin::PublishState ( )

protected

Publish the current state of the plugin.

Definition at line 194 of file ROSBasePlugin.cc.

void gazebo::ROSBasePlugin::UpdateReferenceFramePose ( )

protected

Updates the pose of the reference frame wrt the world frame.

Definition at line 240 of file ROSBasePlugin.cc.

Member Data Documentation

ros::ServiceServer gazebo::ROSBasePlugin::changeSensorSrv

protected

Service server object.

Definition at line 108 of file ROSBasePlugin.hh.

bool gazebo::ROSBasePlugin::gazeboMsgEnabled

protected

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.

Definition at line 83 of file ROSBasePlugin.hh.

transport::NodePtr gazebo::ROSBasePlugin::gazeboNode

protected

Gazebo's node handle for transporting measurement messages.

Definition at line 99 of file ROSBasePlugin.hh.

transport::PublisherPtr gazebo::ROSBasePlugin::gazeboSensorOutputPub

protected

Gazebo's publisher for transporting measurement messages.

Definition at line 105 of file ROSBasePlugin.hh.

std_msgs::Bool gazebo::ROSBasePlugin::isOn

protected

Flag to control the generation of output messages.

Definition at line 93 of file ROSBasePlugin.hh.

bool gazebo::ROSBasePlugin::isReferenceInit

protected

Flag set to true if reference frame initialized.

Definition at line 123 of file ROSBasePlugin.hh.

common::Time gazebo::ROSBasePlugin::lastMeasurementTime

protected

(Simulation) time when the last sensor measurement was generated.

Definition at line 69 of file ROSBasePlugin.hh.

double gazebo::ROSBasePlugin::noiseAmp

protected

Noise amplitude.

Definition at line 78 of file ROSBasePlugin.hh.

std::map<std::string, std::normal_distribution<double> > gazebo::ROSBasePlugin::noiseModels

protected

Normal distribution describing the noise models.

Definition at line 90 of file ROSBasePlugin.hh.

double gazebo::ROSBasePlugin::noiseSigma

protected

Noise standard deviation.

Definition at line 75 of file ROSBasePlugin.hh.

ros::Publisher gazebo::ROSBasePlugin::pluginStatePub

protected

ROS publisher for the switchable sensor data.

Definition at line 111 of file ROSBasePlugin.hh.

ignition::math::Pose3d gazebo::ROSBasePlugin::referenceFrame

protected

Pose of the reference frame wrt world frame.

Definition at line 114 of file ROSBasePlugin.hh.

std::string gazebo::ROSBasePlugin::referenceFrameID

protected

Frame ID of the reference frame.

Definition at line 120 of file ROSBasePlugin.hh.

physics::LinkPtr gazebo::ROSBasePlugin::referenceLink

protected

Reference link.

Definition at line 126 of file ROSBasePlugin.hh.

std::default_random_engine gazebo::ROSBasePlugin::rndGen

protected

Pseudo random number generator.

Definition at line 86 of file ROSBasePlugin.hh.

std::string gazebo::ROSBasePlugin::robotNamespace

protected

Robot namespace.

Definition at line 57 of file ROSBasePlugin.hh.

boost::shared_ptr<ros::NodeHandle> gazebo::ROSBasePlugin::rosNode

protected

ROS node handle for communication with ROS.

Definition at line 96 of file ROSBasePlugin.hh.

ros::Publisher gazebo::ROSBasePlugin::rosSensorOutputPub

protected

Gazebo's publisher for transporting measurement messages.

Definition at line 102 of file ROSBasePlugin.hh.

std::string gazebo::ROSBasePlugin::sensorOutputTopic

protected

Name of the sensor's output topic.

Definition at line 60 of file ROSBasePlugin.hh.

ros::Subscriber gazebo::ROSBasePlugin::tfStaticSub

protected

ROS subscriber for the TF static reference frame.

Definition at line 117 of file ROSBasePlugin.hh.

event::ConnectionPtr gazebo::ROSBasePlugin::updateConnection

protected

Pointer to the update event connection.

Definition at line 66 of file ROSBasePlugin.hh.

double gazebo::ROSBasePlugin::updateRate

protected

Sensor update rate.

Definition at line 72 of file ROSBasePlugin.hh.

physics::WorldPtr gazebo::ROSBasePlugin::world

protected

Pointer to the world.

Definition at line 63 of file ROSBasePlugin.hh.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation