#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...

	~GazeboRosVelodyneLaser ()
	Destructor. More...

Private Member Functions
void	ConnectCb ()
	Subscribe on-demand. More...

void	laserQueueThread ()

void	OnScan (const ConstLaserScanStampedPtr &_msg)

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...

gazebo::transport::NodePtr	gazebo_node_

ros::CallbackQueue	laser_queue_

boost::mutex	lock_
	A mutex to lock access. More...

double	max_range_
	Maximum range to publish. More...

double	min_intensity_
	the intensity beneath which points will be filtered More...

double	min_range_
	Minimum range to publish. More...

ros::NodeHandle *	nh_
	Pointer to ROS node. More...

sensors::RaySensorPtr	parent_ray_sensor_
	The parent ray sensor. More...

ros::Publisher	pub_
	ROS publisher. More...

std::string	robot_namespace_
	For setting ROS name space. More...

gazebo::transport::SubscriberPtr	sub_

std::string	topic_name_
	topic name More...

Detailed Description

Definition at line 77 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 73 of file GazeboRosVelodyneLaser.cpp.

gazebo::GazeboRosVelodyneLaser::~GazeboRosVelodyneLaser ( )

Destructor.

Definition at line 79 of file GazeboRosVelodyneLaser.cpp.

Member Function Documentation

void gazebo::GazeboRosVelodyneLaser::ConnectCb ( )

private

Subscribe on-demand.

Definition at line 205 of file GazeboRosVelodyneLaser.cpp.

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

inlinestaticprivate

Gaussian noise generator.

Definition at line 121 of file GazeboRosVelodyneLaser.h.

void gazebo::GazeboRosVelodyneLaser::laserQueueThread ( )

private

Definition at line 369 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 95 of file GazeboRosVelodyneLaser.cpp.

void gazebo::GazeboRosVelodyneLaser::OnScan ( const ConstLaserScanStampedPtr & _msg )

private

Definition at line 228 of file GazeboRosVelodyneLaser.cpp.

Member Data Documentation

boost::thread gazebo::GazeboRosVelodyneLaser::callback_laser_queue_thread_

private

Definition at line 139 of file GazeboRosVelodyneLaser.h.

std::string gazebo::GazeboRosVelodyneLaser::frame_name_

private

frame transform name, should match link name

Definition at line 106 of file GazeboRosVelodyneLaser.h.

double gazebo::GazeboRosVelodyneLaser::gaussian_noise_

private

Gaussian noise.

Definition at line 118 of file GazeboRosVelodyneLaser.h.

gazebo::transport::NodePtr gazebo::GazeboRosVelodyneLaser::gazebo_node_

private

Definition at line 142 of file GazeboRosVelodyneLaser.h.

ros::CallbackQueue gazebo::GazeboRosVelodyneLaser::laser_queue_

private

Definition at line 137 of file GazeboRosVelodyneLaser.h.

boost::mutex gazebo::GazeboRosVelodyneLaser::lock_

private

A mutex to lock access.

Definition at line 131 of file GazeboRosVelodyneLaser.h.

double gazebo::GazeboRosVelodyneLaser::max_range_

private

Maximum range to publish.

Definition at line 115 of file GazeboRosVelodyneLaser.h.

double gazebo::GazeboRosVelodyneLaser::min_intensity_

private

the intensity beneath which points will be filtered

Definition at line 109 of file GazeboRosVelodyneLaser.h.

double gazebo::GazeboRosVelodyneLaser::min_range_

private

Minimum range to publish.

Definition at line 112 of file GazeboRosVelodyneLaser.h.

ros::NodeHandle* gazebo::GazeboRosVelodyneLaser::nh_

private

Pointer to ROS node.

Definition at line 97 of file GazeboRosVelodyneLaser.h.

sensors::RaySensorPtr gazebo::GazeboRosVelodyneLaser::parent_ray_sensor_

private

The parent ray sensor.

Definition at line 94 of file GazeboRosVelodyneLaser.h.

ros::Publisher gazebo::GazeboRosVelodyneLaser::pub_

private

ROS publisher.

Definition at line 100 of file GazeboRosVelodyneLaser.h.

std::string gazebo::GazeboRosVelodyneLaser::robot_namespace_

private

For setting ROS name space.

Definition at line 134 of file GazeboRosVelodyneLaser.h.

gazebo::transport::SubscriberPtr gazebo::GazeboRosVelodyneLaser::sub_

private

Definition at line 143 of file GazeboRosVelodyneLaser.h.

std::string gazebo::GazeboRosVelodyneLaser::topic_name_

private

topic name

Definition at line 103 of file GazeboRosVelodyneLaser.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation