gazebo::GazeboRosVelodyneLaser Class Reference

#include <GazeboRosVelodyneLaser.h>

Inheritance diagram for gazebo::GazeboRosVelodyneLaser:

Public Member Functions
	GazeboRosVelodyneLaser ()
	Constructor. More...
void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin. More...
void	onStats (const boost::shared_ptr< msgs::WorldStatistics const > &_msg)
	~GazeboRosVelodyneLaser ()
	Destructor. More...

Protected Member Functions
virtual void	OnNewLaserScans ()
	Update the controller. More...

Private Member Functions
void	laserConnect ()
void	laserDisconnect ()
void	laserQueueThread ()
void	putLaserData (common::Time &_updateTime)
	Put laser data to the ROS topic. More...

Static Private Member Functions
static double	gaussianKernel (double mu, double sigma)
	Gaussian noise generator. More...

Private Attributes
boost::thread	callback_laser_queue_thread_
std::string	frame_name_
	frame transform name, should match link name More...
double	gaussian_noise_
	Gaussian noise. More...
int	laser_connect_count_
	Keep track of number of connections. More...
ros::CallbackQueue	laser_queue_
common::Time	last_update_time_
boost::mutex	lock_
	A mutex to lock access to fields that are used in message callbacks. More...
double	max_range_
	Maximum range to publish. More...
double	min_range_
	Minimum range to publish. More...
transport::NodePtr	node_
sensors::RaySensorPtr	parent_ray_sensor_
sensors::SensorPtr	parent_sensor_
	The parent sensor. More...
ros::Publisher	pub_
std::string	robot_namespace_
	for setting ROS name space More...
ros::NodeHandle *	rosnode_
	pointer to ros node More...
common::Time	sim_time_
std::string	topic_name_
	topic name More...
physics::WorldPtr	world_

Detailed Description

Definition at line 59 of file GazeboRosVelodyneLaser.h.

Constructor & Destructor Documentation

gazebo::GazeboRosVelodyneLaser::GazeboRosVelodyneLaser

(

)

Constructor.

Parameters

parent

The parent entity, must be a Model or a Sensor

Definition at line 61 of file GazeboRosVelodyneLaser.cpp.

gazebo::GazeboRosVelodyneLaser::~GazeboRosVelodyneLaser

(

)

Destructor.

Definition at line 67 of file GazeboRosVelodyneLaser.cpp.

Member Function Documentation

static double gazebo::GazeboRosVelodyneLaser::gaussianKernel ( double  mu, double  sigma  )

inlinestaticprivate

Gaussian noise generator.

Definition at line 111 of file GazeboRosVelodyneLaser.h.

void gazebo::GazeboRosVelodyneLaser::laserConnect ( )

private

Definition at line 191 of file GazeboRosVelodyneLaser.cpp.

void gazebo::GazeboRosVelodyneLaser::laserDisconnect ( )

private

Definition at line 198 of file GazeboRosVelodyneLaser.cpp.

void gazebo::GazeboRosVelodyneLaser::laserQueueThread ( )

private

Definition at line 411 of file GazeboRosVelodyneLaser.cpp.

void gazebo::GazeboRosVelodyneLaser::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Load the plugin.

Parameters

take	in SDF root element

Definition at line 83 of file GazeboRosVelodyneLaser.cpp.

void gazebo::GazeboRosVelodyneLaser::OnNewLaserScans ( )

protectedvirtual

Update the controller.

Definition at line 208 of file GazeboRosVelodyneLaser.cpp.

void gazebo::GazeboRosVelodyneLaser::onStats

(

const boost::shared_ptr< msgs::WorldStatistics const > &

_msg

)

Definition at line 420 of file GazeboRosVelodyneLaser.cpp.

void gazebo::GazeboRosVelodyneLaser::putLaserData ( common::Time &  _updateTime )

private

Put laser data to the ROS topic.

Definition at line 227 of file GazeboRosVelodyneLaser.cpp.

Member Data Documentation

boost::thread gazebo::GazeboRosVelodyneLaser::callback_laser_queue_thread_

private

Definition at line 129 of file GazeboRosVelodyneLaser.h.

std::string gazebo::GazeboRosVelodyneLaser::frame_name_

private

frame transform name, should match link name

Definition at line 99 of file GazeboRosVelodyneLaser.h.

double gazebo::GazeboRosVelodyneLaser::gaussian_noise_

private

Gaussian noise.

Definition at line 108 of file GazeboRosVelodyneLaser.h.

int gazebo::GazeboRosVelodyneLaser::laser_connect_count_

private

Keep track of number of connections.

Definition at line 81 of file GazeboRosVelodyneLaser.h.

ros::CallbackQueue gazebo::GazeboRosVelodyneLaser::laser_queue_

private

Definition at line 127 of file GazeboRosVelodyneLaser.h.

common::Time gazebo::GazeboRosVelodyneLaser::last_update_time_

private

Definition at line 78 of file GazeboRosVelodyneLaser.h.

boost::mutex gazebo::GazeboRosVelodyneLaser::lock_

private

A mutex to lock access to fields that are used in message callbacks.

Definition at line 121 of file GazeboRosVelodyneLaser.h.

double gazebo::GazeboRosVelodyneLaser::max_range_

private

Maximum range to publish.

Definition at line 105 of file GazeboRosVelodyneLaser.h.

double gazebo::GazeboRosVelodyneLaser::min_range_

private

Minimum range to publish.

Definition at line 102 of file GazeboRosVelodyneLaser.h.

transport::NodePtr gazebo::GazeboRosVelodyneLaser::node_

private

Definition at line 132 of file GazeboRosVelodyneLaser.h.

sensors::RaySensorPtr gazebo::GazeboRosVelodyneLaser::parent_ray_sensor_

private

Definition at line 89 of file GazeboRosVelodyneLaser.h.

sensors::SensorPtr gazebo::GazeboRosVelodyneLaser::parent_sensor_

private

The parent sensor.

Definition at line 88 of file GazeboRosVelodyneLaser.h.

ros::Publisher gazebo::GazeboRosVelodyneLaser::pub_

private

Definition at line 93 of file GazeboRosVelodyneLaser.h.

std::string gazebo::GazeboRosVelodyneLaser::robot_namespace_

private

for setting ROS name space

Definition at line 124 of file GazeboRosVelodyneLaser.h.

ros::NodeHandle* gazebo::GazeboRosVelodyneLaser::rosnode_

private

pointer to ros node

Definition at line 92 of file GazeboRosVelodyneLaser.h.

common::Time gazebo::GazeboRosVelodyneLaser::sim_time_

private

Definition at line 133 of file GazeboRosVelodyneLaser.h.

std::string gazebo::GazeboRosVelodyneLaser::topic_name_

private

topic name

Definition at line 96 of file GazeboRosVelodyneLaser.h.

physics::WorldPtr gazebo::GazeboRosVelodyneLaser::world_

private

Definition at line 86 of file GazeboRosVelodyneLaser.h.

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

• GazeboRosVelodyneLaser.h
• GazeboRosVelodyneLaser.cpp