#include <diffdrive_plugin_6w.h>

Inheritance diagram for gazebo::DiffDrivePlugin6W:

Public Member Functions
	DiffDrivePlugin6W ()

virtual	~DiffDrivePlugin6W ()

Protected Member Functions
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)

virtual void	Reset ()

virtual void	Update ()

Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)

void	GetPositionCmd ()

void	publish_odometry ()

void	QueueThread ()

Private Attributes
bool	alive_

boost::thread	callback_queue_thread_

bool	enableMotors

physics::JointPtr	joints [6]

physics::LinkPtr	link

std::string	link_name_

boost::mutex	lock

std::string	namespace_

nav_msgs::Odometry	odom_

float	odomPose [3]

float	odomVel [3]

common::Time	prevUpdateTime

ros::Publisher	pub_

ros::CallbackQueue	queue_

ros::NodeHandle *	rosnode_

float	rot_

ros::Subscriber	sub_

std::string	tf_prefix_

std::string	topic_

float	torque

tf::TransformBroadcaster *	transform_broadcaster_

event::ConnectionPtr	updateConnection

float	wheelDiam

float	wheelSep

float	wheelSpeed [2]

physics::WorldPtr	world

float	x_

Detailed Description

Definition at line 51 of file diffdrive_plugin_6w.h.

Constructor & Destructor Documentation

gazebo::DiffDrivePlugin6W::DiffDrivePlugin6W ( )

Definition at line 63 of file diffdrive_plugin_6w.cpp.

gazebo::DiffDrivePlugin6W::~DiffDrivePlugin6W ( )

virtual

Definition at line 68 of file diffdrive_plugin_6w.cpp.

Member Function Documentation

void gazebo::DiffDrivePlugin6W::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr & cmd_msg )

private

Definition at line 292 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::GetPositionCmd ( )

private

Definition at line 269 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)

protectedvirtual

Definition at line 82 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::publish_odometry ( )

private

Definition at line 319 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::QueueThread ( )

private

Definition at line 307 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::Reset ( )

protectedvirtual

Definition at line 172 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::Update ( )

protectedvirtual

Definition at line 201 of file diffdrive_plugin_6w.cpp.

Member Data Documentation

bool gazebo::DiffDrivePlugin6W::alive_

private

Definition at line 107 of file diffdrive_plugin_6w.h.

boost::thread gazebo::DiffDrivePlugin6W::callback_queue_thread_

private

Definition at line 99 of file diffdrive_plugin_6w.h.

bool gazebo::DiffDrivePlugin6W::enableMotors

private

Definition at line 79 of file diffdrive_plugin_6w.h.

physics::JointPtr gazebo::DiffDrivePlugin6W::joints[6]

private

Definition at line 69 of file diffdrive_plugin_6w.h.

physics::LinkPtr gazebo::DiffDrivePlugin6W::link

private

Definition at line 67 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::link_name_

private

Definition at line 95 of file diffdrive_plugin_6w.h.

boost::mutex gazebo::DiffDrivePlugin6W::lock

private

Definition at line 91 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::namespace_

private

Definition at line 93 of file diffdrive_plugin_6w.h.

nav_msgs::Odometry gazebo::DiffDrivePlugin6W::odom_

private

Definition at line 88 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::odomPose[3]

private

Definition at line 80 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::odomVel[3]

private

Definition at line 81 of file diffdrive_plugin_6w.h.

common::Time gazebo::DiffDrivePlugin6W::prevUpdateTime

private

Definition at line 77 of file diffdrive_plugin_6w.h.

ros::Publisher gazebo::DiffDrivePlugin6W::pub_

private

Definition at line 85 of file diffdrive_plugin_6w.h.

ros::CallbackQueue gazebo::DiffDrivePlugin6W::queue_

private

Definition at line 98 of file diffdrive_plugin_6w.h.

ros::NodeHandle* gazebo::DiffDrivePlugin6W::rosnode_

private

Definition at line 84 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::rot_

private

Definition at line 106 of file diffdrive_plugin_6w.h.

ros::Subscriber gazebo::DiffDrivePlugin6W::sub_

private

Definition at line 86 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::tf_prefix_

private

Definition at line 89 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::topic_

private

Definition at line 94 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::torque

private

Definition at line 73 of file diffdrive_plugin_6w.h.

tf::TransformBroadcaster* gazebo::DiffDrivePlugin6W::transform_broadcaster_

private

Definition at line 87 of file diffdrive_plugin_6w.h.

event::ConnectionPtr gazebo::DiffDrivePlugin6W::updateConnection

private

Definition at line 110 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::wheelDiam

private

Definition at line 72 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::wheelSep

private

Definition at line 71 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::wheelSpeed[2]

private

Definition at line 74 of file diffdrive_plugin_6w.h.

physics::WorldPtr gazebo::DiffDrivePlugin6W::world

private

Definition at line 68 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::x_

private

Definition at line 105 of file diffdrive_plugin_6w.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation