Visual plugin for changing the color of some visual elements using ROS messages. This plugin accepts the following SDF parameters: More...

#include <light_buoy_plugin.hh>

Inheritance diagram for LightBuoyPlugin:

[legend]

Public Member Functions
	LightBuoyPlugin ()

void	Load (gazebo::rendering::VisualPtr _parent, sdf::ElementPtr _sdf)

Private Types
using	Colors_t = std::pair< std_msgs::ColorRGBA, std::string >

using	Pattern_t = std::array< uint8_t, 5 >

Private Member Functions
void	ChangePattern (const std_msgs::Empty::ConstPtr &_msg)
	ROS callback for generating a new color pattern. More...

void	ChangePatternTo (gazebo::ConstLightBuoyColorsPtr &_msg)
	Gazebo callback for changing light to a specific color pattern. More...

void	InitializeAllPatterns ()
	Initialize all color sequences. More...

bool	ParseSDF (sdf::ElementPtr _sdf)
	Parse all SDF parameters. More...

void	Update ()
	Display the next color in the sequence, or start over if at the end. More...

Static Private Member Functions
static std_msgs::ColorRGBA	CreateColor (const double _r, const double _g, const double _b, const double _a)
	Creates a std_msgs::ColorRGBA message from 4 doubles. More...

static uint8_t	IndexFromColor (const std::string &_color)
	Return the index of the color from its string. More...

Private Attributes
std::vector< Pattern_t >	allPatterns
	All color sequences. More...

size_t	allPatternsIdx = 0u
	The index pointing to one of the potential color sequences. More...

ros::Subscriber	changePatternSub
	Subscriber to generate and display a new color sequence. More...

gazebo::transport::SubscriberPtr	colorSub

std::string	gzColorsTopic
	gazebo topic. More...

gazebo::transport::NodePtr	gzNode

std::mutex	mutex
	Locks state and pattern member variables. More...

gazebo::common::Time	nextUpdateTime
	Next time where the plugin should be updated. More...

ros::NodeHandle	nh
	ROS Node handle. More...

std::string	ns
	ROS namespace. More...

Pattern_t	pattern
	The color pattern. More...

std::string	rosShuffleTopic
	ROS topic. More...

gazebo::rendering::ScenePtr	scene
	Pointer to the scene node. More...

bool	shuffleEnabled = true
	Whether shuffle is enabled via a ROS topic or not. More...

uint8_t	state = 0u
	Track current index in pattern. More...

gazebo::event::ConnectionPtr	updateConnection
	Connects to rendering update event. More...

std::vector< std::string >	visualNames
	Collection of visual names. More...

std::vector< gazebo::rendering::VisualPtr >	visuals
	Pointer to the visual elements to modify. More...

Static Private Attributes
static const std::array< Colors_t, 5 >	kColors
	List of the color options (red, green, blue, yellow and no color) with their string name for logging. More...

Detailed Description

Visual plugin for changing the color of some visual elements using ROS messages. This plugin accepts the following SDF parameters:

<color_1>: The first color of the sequence (RED, GREEN, BLUE, YELLOW). <color_2>: The second color of the sequence (RED, GREEN, BLUE, YELLOW). <color_3>: The third color of the sequence (RED, GREEN, BLUE, YELLOW). <shuffle>: True if the topic for shuffling the sequence is enabled. <robot_namespace>: The ROS namespace for this node. If not present, the model name without any "::"" will be used. E.g.: The plugin under a visual named "model1::my_submodel::link::visual" will use "model1" as namespace unless a value is specified. <ros_shuffle_topic>: The ROS topic used to request color changes. <gz_colors_topic>: The gazebo topic used to request specific color changes. <visuals>: The collection of visuals that change in color. It accepts N elements of <visual> elements.

Here's an example: <plugin name="light_buoy_plugin" filename="liblight_buoy_plugin.so"> <color_1>RED</color_1> <color_2>GREEN</color_2> <color_3>BLUE</color_3> <visuals> <visual>robotx_light_buoy::base_link::panel_1</visual> <visual>robotx_light_buoy::base_link::panel_2</visual> <visual>robotx_light_buoy::base_link::panel_3</visual> </visuals> <shuffle>true</shuffle> <robot_namespace>vrx</robot_namespace> <ros_shuffle_topic>light_buoy/shuffle</ros_shuffle_topic> </plugin>

Definition at line 73 of file light_buoy_plugin.hh.

Member Typedef Documentation

using LightBuoyPlugin::Colors_t = std::pair<std_msgs::ColorRGBA, std::string>

private

Definition at line 118 of file light_buoy_plugin.hh.

using LightBuoyPlugin::Pattern_t = std::array<uint8_t, 5>

private

Definition at line 123 of file light_buoy_plugin.hh.

Constructor & Destructor Documentation

LightBuoyPlugin::LightBuoyPlugin ( )

Definition at line 80 of file light_buoy_plugin.cc.

Member Function Documentation

void LightBuoyPlugin::ChangePattern ( const std_msgs::Empty::ConstPtr & _msg )

private

ROS callback for generating a new color pattern.

Parameters

[in] _msg Not used.

Definition at line 271 of file light_buoy_plugin.cc.

void LightBuoyPlugin::ChangePatternTo ( gazebo::ConstLightBuoyColorsPtr & _msg )

private

Gazebo callback for changing light to a specific color pattern.

Parameters

[in] _msg New color sequence.

Definition at line 86 of file light_buoy_plugin.cc.

std_msgs::ColorRGBA LightBuoyPlugin::CreateColor	(	const double	_r,
		const double	_g,
		const double	_b,
		const double	_a
	)

staticprivate

Creates a std_msgs::ColorRGBA message from 4 doubles.

Parameters

[in]	_r	Red.
[in]	_g	Green.
[in]	_b	Blue.
[in]	_a	Alpha.

Returns: The ColorRGBA message.

Definition at line 30 of file light_buoy_plugin.cc.

uint8_t LightBuoyPlugin::IndexFromColor ( const std::string & _color )

staticprivate

Return the index of the color from its string.

Parameters

[in] _color The color

Returns: The index in kColors.

Definition at line 42 of file light_buoy_plugin.cc.

void LightBuoyPlugin::InitializeAllPatterns ( )

private

Initialize all color sequences.

Definition at line 57 of file light_buoy_plugin.cc.

void LightBuoyPlugin::Load	(	gazebo::rendering::VisualPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Definition at line 104 of file light_buoy_plugin.cc.

bool LightBuoyPlugin::ParseSDF ( sdf::ElementPtr _sdf )

private

Parse all SDF parameters.

Parameters

[in] _sdf SDF elements.

Definition at line 143 of file light_buoy_plugin.cc.

void LightBuoyPlugin::Update ( )

private

Display the next color in the sequence, or start over if at the end.

Definition at line 227 of file light_buoy_plugin.cc.

Member Data Documentation

std::vector<Pattern_t> LightBuoyPlugin::allPatterns

private

All color sequences.

Definition at line 130 of file light_buoy_plugin.hh.

size_t LightBuoyPlugin::allPatternsIdx = 0u

private

The index pointing to one of the potential color sequences.

Definition at line 133 of file light_buoy_plugin.hh.

ros::Subscriber LightBuoyPlugin::changePatternSub

private

Subscriber to generate and display a new color sequence.

Definition at line 145 of file light_buoy_plugin.hh.

gazebo::transport::SubscriberPtr LightBuoyPlugin::colorSub

private

Definition at line 154 of file light_buoy_plugin.hh.

std::string LightBuoyPlugin::gzColorsTopic

private

gazebo topic.

Definition at line 169 of file light_buoy_plugin.hh.

gazebo::transport::NodePtr LightBuoyPlugin::gzNode

private

Definition at line 151 of file light_buoy_plugin.hh.

const std::array< LightBuoyPlugin::Colors_t, 5 > LightBuoyPlugin::kColors

staticprivate

Initial value:

= {LightBuoyPlugin::Colors_t(CreateColor(1.0, 0.0, 0.0, 1.0), "red"),
     LightBuoyPlugin::Colors_t(CreateColor(0.0, 1.0, 0.0, 1.0), "green"),
     LightBuoyPlugin::Colors_t(CreateColor(0.0, 0.0, 1.0, 1.0), "blue"),
     LightBuoyPlugin::Colors_t(CreateColor(1.0, 1.0, 0.0, 1.0), "yellow"),
     LightBuoyPlugin::Colors_t(CreateColor(0.0, 0.0, 0.0, 1.0), "off")}

List of the color options (red, green, blue, yellow and no color) with their string name for logging.

Definition at line 127 of file light_buoy_plugin.hh.

std::mutex LightBuoyPlugin::mutex

private

Locks state and pattern member variables.

Definition at line 181 of file light_buoy_plugin.hh.

gazebo::common::Time LightBuoyPlugin::nextUpdateTime

private

Next time where the plugin should be updated.

Definition at line 178 of file light_buoy_plugin.hh.

ros::NodeHandle LightBuoyPlugin::nh

private

ROS Node handle.

Definition at line 148 of file light_buoy_plugin.hh.

std::string LightBuoyPlugin::ns

private

ROS namespace.

Definition at line 163 of file light_buoy_plugin.hh.

Pattern_t LightBuoyPlugin::pattern

private

The color pattern.

Definition at line 157 of file light_buoy_plugin.hh.

std::string LightBuoyPlugin::rosShuffleTopic

private

ROS topic.

Definition at line 166 of file light_buoy_plugin.hh.

gazebo::rendering::ScenePtr LightBuoyPlugin::scene

private

Pointer to the scene node.

Definition at line 172 of file light_buoy_plugin.hh.

bool LightBuoyPlugin::shuffleEnabled = true

private

Whether shuffle is enabled via a ROS topic or not.

Definition at line 142 of file light_buoy_plugin.hh.

uint8_t LightBuoyPlugin::state = 0u

private

Track current index in pattern.

Definition at line 160 of file light_buoy_plugin.hh.

gazebo::event::ConnectionPtr LightBuoyPlugin::updateConnection

private

Connects to rendering update event.

Definition at line 175 of file light_buoy_plugin.hh.

std::vector<std::string> LightBuoyPlugin::visualNames

private

Collection of visual names.

Definition at line 136 of file light_buoy_plugin.hh.

std::vector<gazebo::rendering::VisualPtr> LightBuoyPlugin::visuals

private

Pointer to the visual elements to modify.

Definition at line 139 of file light_buoy_plugin.hh.

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

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation