gazebo::GazeboRos Class Reference

#include <gazebo_ros_utils.h>

Public Member Functions
	GazeboRos (physics::ModelPtr &_parent, sdf::ElementPtr _sdf, const std::string &_plugin)
	GazeboRos (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_plugin)
physics::JointPtr	getJoint (physics::ModelPtr &_parent, const char *_tag_name, const std::string &_joint_default_name)
template<class T >
void	getParameter (T &_value, const char *_tag_name, const T &_default)
template<class T >
void	getParameter (T &_value, const char *_tag_name)
template<class T >
void	getParameter (T &_value, const char *_tag_name, const std::map< std::string, T > &_options, const T &_default)
template<class T >
void	getParameter (T &_value, const char *_tag_name, const std::map< std::string, T > &_options)
void	getParameterBoolean (bool &_value, const char *_tag_name, const bool &_default)
void	getParameterBoolean (bool &_value, const char *_tag_name)
const char *	info () const
void	isInitialized ()
boost::shared_ptr< ros::NodeHandle > &	node ()
const boost::shared_ptr< ros::NodeHandle > &	node () const
std::string	resolveTF (const std::string &_name)

Private Member Functions
void	readCommonParameter ()
	info text for log messages to identify the node More...

Private Attributes
std::string	info_text
	prefix for the ros tf plublisher if not set it uses the namespace_ More...
std::string	namespace_
	name of the plugin class More...
std::string	plugin_
	sdf to read More...
boost::shared_ptr< ros::NodeHandle >	rosnode_
	name of the launched node More...
sdf::ElementPtr	sdf_
std::string	tf_prefix_
	rosnode More...

Detailed Description

Gazebo ros helper class The class simplifies the parameter and rosnode handling

Author

Markus Bader marku.nosp@m.s.ba.nosp@m.der@t.nosp@m.uwie.nosp@m.n.ac..nosp@m.at

Definition at line 109 of file gazebo_ros_utils.h.

Constructor & Destructor Documentation

GazeboRos() [1/2]

gazebo::GazeboRos::GazeboRos ( physics::ModelPtr &  _parent, sdf::ElementPtr  _sdf, const std::string &  _plugin  )

inline

Constructor

Parameters

_parent	models parent
_sdf	sdf to read
_name	of the plugin class

Definition at line 129 of file gazebo_ros_utils.h.

GazeboRos() [2/2]

gazebo::GazeboRos::GazeboRos ( sensors::SensorPtr  _parent, sdf::ElementPtr  _sdf, const std::string &  _plugin  )

inline

Constructor

Parameters

_parent	sensor parent
_sdf	sdf to read
_name	of the plugin class

Definition at line 152 of file gazebo_ros_utils.h.

Member Function Documentation

getJoint()

physics::JointPtr GazeboRos::getJoint	(	physics::ModelPtr &	_parent,
		const char *	_tag_name,
		const std::string &	_joint_default_name
	)

retuns a JointPtr based on an sdf tag_name entry

Parameters

_value
_tag_name
_joint_default_name	JointPtr

Definition at line 130 of file gazebo_ros_utils.cpp.

getParameter() [1/4]

template<class T >

void gazebo::GazeboRos::getParameter ( T &  _value, const char *  _tag_name, const T &  _default  )

inline

reads the follwoing _tag_name paramer or sets a _default value

Parameters

_value
_tag_name
_default	sdf tag value

Definition at line 233 of file gazebo_ros_utils.h.

getParameter() [2/4]

template<class T >

void gazebo::GazeboRos::getParameter ( T &  _value, const char *  _tag_name  )

inline

reads the follwoing _tag_name paramer

Parameters

_value
_tag_name
_default	sdf tag value

Definition at line 249 of file gazebo_ros_utils.h.

getParameter() [3/4]

template<class T >

void gazebo::GazeboRos::getParameter ( T &  _value, const char *  _tag_name, const std::map< std::string, T > &  _options, const T &  _default  )

inline

reads the following _tag_name paramer and compares the value with an _options map keys and retuns the corresponding value.

Parameters

_value
_tag_name
_default	sdf tag value

Definition at line 265 of file gazebo_ros_utils.h.

getParameter() [4/4]

template<class T >

void gazebo::GazeboRos::getParameter ( T &  _value, const char *  _tag_name, const std::map< std::string, T > &  _options  )

inline

reads the following _tag_name paramer and compares the value with an _options map keys and retuns the corresponding value.

Parameters

_value
_tag_name
_default	sdf tag value

Definition at line 281 of file gazebo_ros_utils.h.

getParameterBoolean() [1/2]

void GazeboRos::getParameterBoolean	(	bool &	_value,
		const char *	_tag_name,
		const bool &	_default
	)

reads the follwoing _tag_name paramer or sets a _default value

Parameters

_value
_tag_name
_default	sdf tag value

Definition at line 97 of file gazebo_ros_utils.cpp.

getParameterBoolean() [2/2]

void GazeboRos::getParameterBoolean	(	bool &	_value,
		const char *	_tag_name
	)

reads the follwoing _tag_name paramer

Parameters

_value
_tag_name	sdf tag value

Definition at line 107 of file gazebo_ros_utils.cpp.

info()

const char * GazeboRos::info

(

)

const

Returns info text used for log messages

Returns

class name and node name as string

Definition at line 42 of file gazebo_ros_utils.cpp.

isInitialized()

void GazeboRos::isInitialized

(

)

checks if the ros not is initialized JointPtr

Definition at line 145 of file gazebo_ros_utils.cpp.

node() [1/2]

boost::shared_ptr< ros::NodeHandle > & GazeboRos::node

(

)

returns the initialized created within the constuctor

Returns

rosnode

Definition at line 45 of file gazebo_ros_utils.cpp.

node() [2/2]

const boost::shared_ptr< ros::NodeHandle > & GazeboRos::node

(

)

const

returns the initialized within the constuctor

Returns

rosnode

Definition at line 48 of file gazebo_ros_utils.cpp.

readCommonParameter()

void GazeboRos::readCommonParameter ( )

private

info text for log messages to identify the node

Reads the common plugin parameters used by the constructor

Definition at line 55 of file gazebo_ros_utils.cpp.

resolveTF()

std::string GazeboRos::resolveTF

(

const std::string &

_name

)

resolves a tf frame name by adding the tf_prefix initialized within the constuctor

Parameters

_name

resolved tf name

Definition at line 52 of file gazebo_ros_utils.cpp.

Member Data Documentation

info_text

std::string gazebo::GazeboRos::info_text

private

prefix for the ros tf plublisher if not set it uses the namespace_

Definition at line 117 of file gazebo_ros_utils.h.

namespace_

std::string gazebo::GazeboRos::namespace_

private

name of the plugin class

Definition at line 114 of file gazebo_ros_utils.h.

plugin_

std::string gazebo::GazeboRos::plugin_

private

sdf to read

Definition at line 113 of file gazebo_ros_utils.h.

rosnode_

boost::shared_ptr<ros::NodeHandle> gazebo::GazeboRos::rosnode_

private

name of the launched node

Definition at line 115 of file gazebo_ros_utils.h.

sdf_

sdf::ElementPtr gazebo::GazeboRos::sdf_

private

Definition at line 112 of file gazebo_ros_utils.h.

tf_prefix_

std::string gazebo::GazeboRos::tf_prefix_

private

rosnode

Definition at line 116 of file gazebo_ros_utils.h.

---

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

• gazebo_ros_utils.h
• gazebo_ros_utils.cpp