Controls the shape and color of a symbol. More...

#include <placard_plugin.hh>

Inheritance diagram for PlacardPlugin:

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

	PlacardPlugin ()

Private Member Functions
void	ChangeSymbol (const std_msgs::Empty::ConstPtr &_msg)
	ROS callback for changing a symbol and its color. More...

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

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

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

void	Update ()
	Display the symbol in the placard. 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...

Private Attributes
std::vector< std::array< std::string, 2u > >	allPatterns
	All color/symbol sequences. More...

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

ros::Subscriber	changeSymbolSub
	Service to generate and display a new symbol. More...

std::string	color
	The current color. More...

gazebo::transport::NodePtr	gzNode
	gazebo Node More...

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...

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

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

std::string	shape
	The current shape. More...

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

gazebo::transport::SubscriberPtr	symbolSub
	symbol subscriber More...

std::string	symbolSubTopic
	gazebo symbol sub topic 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 std::map< std::string, std_msgs::ColorRGBA >	kColors
	List of the color options (red, green, blue, and no color) with their string name for logging. More...

static std::vector< std::string >	kShapes
	List of the shape options (circle, cross, triangle) with their string name for logging. More...

Detailed Description

Controls the shape and color of a symbol.

It selects a shape (triangle, cross, circle) and a color (red, green, blue) and applies to the current symbol This plugin can be configured with the following SDF tags:

<shape> "triangle", "cross" or "circle". If ommited, the shape will be randomly selected. <color> "red", "green" or "blue". If ommited, the color will be randomly selected. <shuffle>: True if the topic for shuffling the sequence is enabled. <robot_namespace> ROS namespace of Node, can be used to have multiple plugins. <ros_shuffle_topic>: The ROS topic used to request color changes. <gz_symbol_topic>: The gazebo topic subscribed to set symbol changes defaults to /<robot_namespace>/symbol <visuals>: The set of visual symbols. It contains at least one visual: <visual>: A visual displaying a shape.

Here's an example: <plugin name="placard1plugin" filename="libplacard_plugin.so"> <shape>triangle</shape> <color>red</color> <visuals> <visual>dock_2018_placard1::visual_circle</visual> <visual>dock_2018_placard1::visual_h_cross</visual> <visual>dock_2018_placard1::visual_v_cross</visual> <visual>dock_2018_placard1::visual_triangle</visual> </visuals> <shuffle>true</shuffle> <robot_namespace>vrx</robot_namespace> <topic>dock/placard/shuffle</topic> </plugin>

Definition at line 74 of file placard_plugin.hh.

Constructor & Destructor Documentation

PlacardPlugin::PlacardPlugin ( )

Definition at line 33 of file placard_plugin.cc.

Member Function Documentation

void PlacardPlugin::ChangeSymbol ( const std_msgs::Empty::ConstPtr & _msg )

private

ROS callback for changing a symbol and its color.

Parameters

[in] _msg Not used.

Definition at line 252 of file placard_plugin.cc.

void PlacardPlugin::ChangeSymbolTo ( gazebo::ConstDockPlacardPtr & _msg )

private

Gazebo callback for changing light to a specific color pattern.

Parameters

[in] _msg New symbol.

Definition at line 96 of file placard_plugin.cc.

std_msgs::ColorRGBA PlacardPlugin::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 39 of file placard_plugin.cc.

void PlacardPlugin::InitializeAllPatterns ( )

private

Initialize all color/symbol sequences.

Definition at line 51 of file placard_plugin.cc.

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

Definition at line 59 of file placard_plugin.cc.

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

private

Parse all SDF parameters.

Parameters

[in] _sdf SDF elements.

Definition at line 105 of file placard_plugin.cc.

void PlacardPlugin::Update ( )

private

Display the symbol in the placard.

Definition at line 200 of file placard_plugin.cc.

Member Data Documentation

std::vector<std::array<std::string, 2u> > PlacardPlugin::allPatterns

private

All color/symbol sequences.

Definition at line 126 of file placard_plugin.hh.

size_t PlacardPlugin::allPatternsIdx = 0u

private

The index pointing to one of the potential color/symbol sequence.

Definition at line 129 of file placard_plugin.hh.

ros::Subscriber PlacardPlugin::changeSymbolSub

private

Service to generate and display a new symbol.

Definition at line 141 of file placard_plugin.hh.

std::string PlacardPlugin::color

private

The current color.

Definition at line 120 of file placard_plugin.hh.

gazebo::transport::NodePtr PlacardPlugin::gzNode

private

gazebo Node

Definition at line 153 of file placard_plugin.hh.

std::map< std::string, std_msgs::ColorRGBA > PlacardPlugin::kColors

staticprivate

Initial value:

=
  {
    {"red",   CreateColor(1.0, 0.0, 0.0, 1.0)},
    {"green", CreateColor(0.0, 1.0, 0.0, 1.0)},
    {"blue",  CreateColor(0.0, 0.0, 1.0, 1.0)},
  }

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

Definition at line 113 of file placard_plugin.hh.

std::vector< std::string > PlacardPlugin::kShapes

staticprivate

Initial value:

=

{"circle", "cross", "triangle"}

List of the shape options (circle, cross, triangle) with their string name for logging.

Definition at line 117 of file placard_plugin.hh.

std::mutex PlacardPlugin::mutex

private

Locks state and pattern member variables.

Definition at line 171 of file placard_plugin.hh.

gazebo::common::Time PlacardPlugin::nextUpdateTime

private

Next time where the plugin should be updated.

Definition at line 168 of file placard_plugin.hh.

ros::NodeHandle PlacardPlugin::nh

private

ROS Node handle.

Definition at line 144 of file placard_plugin.hh.

std::string PlacardPlugin::ns

private

ROS namespace.

Definition at line 147 of file placard_plugin.hh.

std::string PlacardPlugin::rosShuffleTopic

private

ROS topic.

Definition at line 150 of file placard_plugin.hh.

gazebo::rendering::ScenePtr PlacardPlugin::scene

private

Pointer to the scene node.

Definition at line 162 of file placard_plugin.hh.

std::string PlacardPlugin::shape

private

The current shape.

Definition at line 123 of file placard_plugin.hh.

bool PlacardPlugin::shuffleEnabled = true

private

Whether shuffle is enabled via a ROS topic or not.

Definition at line 138 of file placard_plugin.hh.

gazebo::transport::SubscriberPtr PlacardPlugin::symbolSub

private

symbol subscriber

Definition at line 159 of file placard_plugin.hh.

std::string PlacardPlugin::symbolSubTopic

private

gazebo symbol sub topic

Definition at line 156 of file placard_plugin.hh.

gazebo::event::ConnectionPtr PlacardPlugin::updateConnection

private

Connects to rendering update event.

Definition at line 165 of file placard_plugin.hh.

std::vector<std::string> PlacardPlugin::visualNames

private

Collection of visual names.

Definition at line 132 of file placard_plugin.hh.

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

private

Pointer to the visual elements to modify.

Definition at line 135 of file placard_plugin.hh.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation