#include <diffdrive_plugin_multi_wheel.h>

Inheritance diagram for gazebo::GazeboRosDiffDriveMultiWheel:

Public Member Functions
	GazeboRosDiffDriveMultiWheel ()

void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)

	~GazeboRosDiffDriveMultiWheel ()

Protected Member Functions
virtual void	FiniChild ()

virtual void	UpdateChild ()

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

void	getWheelVelocities ()

void	publishOdometry (double step_time)

void	QueueThread ()

Private Attributes
bool	alive_

boost::thread	callback_queue_thread_

ros::Subscriber	cmd_vel_subscriber_

std::string	command_topic_

std::vector< std::string >	joint_names_ [2]

std::vector< physics::JointPtr >	joints_ [2]

common::Time	last_update_time_

boost::mutex	lock

nav_msgs::Odometry	odom_

std::string	odometry_frame_

ros::Publisher	odometry_publisher_

std::string	odometry_topic_

physics::ModelPtr	parent

bool	publish_odometry_msg_

bool	publish_odometry_tf_

ros::CallbackQueue	queue_

std::string	robot_base_frame_

std::string	robot_namespace_

ros::NodeHandle *	rosnode_

double	rot_

std::string	tf_prefix_

double	torque

tf::TransformBroadcaster *	transform_broadcaster_

event::ConnectionPtr	update_connection_

double	update_period_

double	update_rate_

double	wheel_diameter_

double	wheel_separation_

double	wheel_speed_ [2]

physics::WorldPtr	world

double	x_

Detailed Description

Definition at line 104 of file diffdrive_plugin_multi_wheel.h.

Constructor & Destructor Documentation

gazebo::GazeboRosDiffDriveMultiWheel::GazeboRosDiffDriveMultiWheel ( )

Definition at line 105 of file diffdrive_plugin_multi_wheel.cpp.

gazebo::GazeboRosDiffDriveMultiWheel::~GazeboRosDiffDriveMultiWheel ( )

Definition at line 108 of file diffdrive_plugin_multi_wheel.cpp.

Member Function Documentation

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

private

Definition at line 352 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::FiniChild ( )

protectedvirtual

Definition at line 334 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::getWheelVelocities ( )

private

Definition at line 342 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Definition at line 114 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::publishOdometry ( double step_time )

private

Definition at line 368 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::QueueThread ( )

private

Definition at line 360 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::UpdateChild ( )

protectedvirtual

Definition at line 303 of file diffdrive_plugin_multi_wheel.cpp.

Member Data Documentation

bool gazebo::GazeboRosDiffDriveMultiWheel::alive_

private

Definition at line 158 of file diffdrive_plugin_multi_wheel.h.

boost::thread gazebo::GazeboRosDiffDriveMultiWheel::callback_queue_thread_

private

Definition at line 150 of file diffdrive_plugin_multi_wheel.h.

ros::Subscriber gazebo::GazeboRosDiffDriveMultiWheel::cmd_vel_subscriber_

private

Definition at line 135 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::command_topic_

private

Definition at line 143 of file diffdrive_plugin_multi_wheel.h.

std::vector<std::string> gazebo::GazeboRosDiffDriveMultiWheel::joint_names_[2]

private

Definition at line 123 of file diffdrive_plugin_multi_wheel.h.

std::vector<physics::JointPtr> gazebo::GazeboRosDiffDriveMultiWheel::joints_[2]

private

Definition at line 130 of file diffdrive_plugin_multi_wheel.h.

common::Time gazebo::GazeboRosDiffDriveMultiWheel::last_update_time_

private

Definition at line 163 of file diffdrive_plugin_multi_wheel.h.

boost::mutex gazebo::GazeboRosDiffDriveMultiWheel::lock

private

Definition at line 140 of file diffdrive_plugin_multi_wheel.h.

nav_msgs::Odometry gazebo::GazeboRosDiffDriveMultiWheel::odom_

private

Definition at line 137 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::odometry_frame_

private

Definition at line 145 of file diffdrive_plugin_multi_wheel.h.

ros::Publisher gazebo::GazeboRosDiffDriveMultiWheel::odometry_publisher_

private

Definition at line 134 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::odometry_topic_

private

Definition at line 144 of file diffdrive_plugin_multi_wheel.h.

physics::ModelPtr gazebo::GazeboRosDiffDriveMultiWheel::parent

private

Definition at line 120 of file diffdrive_plugin_multi_wheel.h.

bool gazebo::GazeboRosDiffDriveMultiWheel::publish_odometry_msg_

private

Definition at line 166 of file diffdrive_plugin_multi_wheel.h.

bool gazebo::GazeboRosDiffDriveMultiWheel::publish_odometry_tf_

private

Definition at line 165 of file diffdrive_plugin_multi_wheel.h.

ros::CallbackQueue gazebo::GazeboRosDiffDriveMultiWheel::queue_

private

Definition at line 149 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::robot_base_frame_

private

Definition at line 146 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::robot_namespace_

private

Definition at line 142 of file diffdrive_plugin_multi_wheel.h.

ros::NodeHandle* gazebo::GazeboRosDiffDriveMultiWheel::rosnode_

private

Definition at line 133 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::rot_

private

Definition at line 157 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::tf_prefix_

private

Definition at line 138 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::torque

private

Definition at line 127 of file diffdrive_plugin_multi_wheel.h.

tf::TransformBroadcaster* gazebo::GazeboRosDiffDriveMultiWheel::transform_broadcaster_

private

Definition at line 136 of file diffdrive_plugin_multi_wheel.h.

event::ConnectionPtr gazebo::GazeboRosDiffDriveMultiWheel::update_connection_

private

Definition at line 121 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::update_period_

private

Definition at line 162 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::update_rate_

private

Definition at line 161 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::wheel_diameter_

private

Definition at line 126 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::wheel_separation_

private

Definition at line 125 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::wheel_speed_[2]

private

Definition at line 128 of file diffdrive_plugin_multi_wheel.h.

physics::WorldPtr gazebo::GazeboRosDiffDriveMultiWheel::world

private

Definition at line 119 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::x_

private

Definition at line 156 of file diffdrive_plugin_multi_wheel.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