GazeboRosFT controller This is a controller that simulates a 6 dof force sensor. More...

#include <gazebo_ros_ft_sensor.h>

Inheritance diagram for gazebo::GazeboRosFT:

Public Member Functions
	GazeboRosFT ()
	Constructor. More...

void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Load the controller. More...

virtual	~GazeboRosFT ()
	Destructor. More...

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

Private Member Functions
void	FTConnect ()

void	FTDisconnect ()

double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator. More...

void	QueueThread ()

Private Attributes
boost::thread	callback_queue_thread_

physics::LinkPtr	child_link_
	A pointer to the Gazebo child link. More...

std::string	frame_name_
	ROS frame transform name to use in the image message header. FIXME: extract link name directly? More...

int	ft_connect_count_
	: keep track of number of connections More...

double	gaussian_noise_
	Gaussian noise. More...

physics::JointPtr	joint_
	A pointer to the Gazebo joint. More...

std::string	joint_name_
	store bodyname More...

common::Time	last_time_
	save last_time More...

boost::mutex	lock_
	A mutex to lock access to fields that are used in message callbacks. More...

physics::ModelPtr	model_
	A pointer to the Gazebo model. More...

physics::LinkPtr	parent_link_
	A pointer to the Gazebo parent link. More...

ros::Publisher	pub_

ros::CallbackQueue	queue_

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

ros::NodeHandle *	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist. More...

std::string	topic_name_
	ROS WrenchStamped topic name. More...

event::ConnectionPtr	update_connection_

double	update_rate_

physics::WorldPtr	world_
	A pointer to the Gazebo world. More...

geometry_msgs::WrenchStamped	wrench_msg_
	ROS WrenchStamped message. More...

Detailed Description

GazeboRosFT controller This is a controller that simulates a 6 dof force sensor.

Definition at line 74 of file gazebo_ros_ft_sensor.h.

Constructor & Destructor Documentation

◆ GazeboRosFT()

gazebo::GazeboRosFT::GazeboRosFT ( )

Constructor.

Parameters

parent The parent entity must be a Model

Definition at line 33 of file gazebo_ros_ft_sensor.cpp.

◆ ~GazeboRosFT()

gazebo::GazeboRosFT::~GazeboRosFT ( )

virtual

Destructor.

Definition at line 40 of file gazebo_ros_ft_sensor.cpp.

Member Function Documentation

◆ FTConnect()

void gazebo::GazeboRosFT::FTConnect ( )

private

Definition at line 144 of file gazebo_ros_ft_sensor.cpp.

◆ FTDisconnect()

void gazebo::GazeboRosFT::FTDisconnect ( )

private

Definition at line 151 of file gazebo_ros_ft_sensor.cpp.

◆ GaussianKernel()

double gazebo::GazeboRosFT::GaussianKernel	(	double	mu,
		double	sigma
	)

private

Gaussian noise generator.

Definition at line 220 of file gazebo_ros_ft_sensor.cpp.

◆ Load()

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

Load the controller.

Definition at line 53 of file gazebo_ros_ft_sensor.cpp.

◆ QueueThread()

void gazebo::GazeboRosFT::QueueThread ( )

private

Definition at line 243 of file gazebo_ros_ft_sensor.cpp.

◆ UpdateChild()

void gazebo::GazeboRosFT::UpdateChild ( )

protectedvirtual

Update the controller.

Definition at line 158 of file gazebo_ros_ft_sensor.cpp.

Member Data Documentation

◆ callback_queue_thread_

boost::thread gazebo::GazeboRosFT::callback_queue_thread_

private

Definition at line 147 of file gazebo_ros_ft_sensor.h.

◆ child_link_

physics::LinkPtr gazebo::GazeboRosFT::child_link_

private

A pointer to the Gazebo child link.

Definition at line 102 of file gazebo_ros_ft_sensor.h.

◆ frame_name_

std::string gazebo::GazeboRosFT::frame_name_

private

ROS frame transform name to use in the image message header. FIXME: extract link name directly?

Definition at line 125 of file gazebo_ros_ft_sensor.h.

◆ ft_connect_count_

int gazebo::GazeboRosFT::ft_connect_count_

private

: keep track of number of connections

Definition at line 140 of file gazebo_ros_ft_sensor.h.

◆ gaussian_noise_

double gazebo::GazeboRosFT::gaussian_noise_

private

Gaussian noise.

Definition at line 90 of file gazebo_ros_ft_sensor.h.

◆ joint_

physics::JointPtr gazebo::GazeboRosFT::joint_

private

A pointer to the Gazebo joint.

Definition at line 96 of file gazebo_ros_ft_sensor.h.

◆ joint_name_

std::string gazebo::GazeboRosFT::joint_name_

private

store bodyname

Definition at line 118 of file gazebo_ros_ft_sensor.h.

◆ last_time_

common::Time gazebo::GazeboRosFT::last_time_

private

save last_time

Definition at line 134 of file gazebo_ros_ft_sensor.h.

◆ lock_

boost::mutex gazebo::GazeboRosFT::lock_

private

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

Definition at line 131 of file gazebo_ros_ft_sensor.h.

◆ model_

physics::ModelPtr gazebo::GazeboRosFT::model_

private

A pointer to the Gazebo model.

Definition at line 105 of file gazebo_ros_ft_sensor.h.

◆ parent_link_

physics::LinkPtr gazebo::GazeboRosFT::parent_link_

private

A pointer to the Gazebo parent link.

Definition at line 99 of file gazebo_ros_ft_sensor.h.

◆ pub_

ros::Publisher gazebo::GazeboRosFT::pub_

private

Definition at line 112 of file gazebo_ros_ft_sensor.h.

◆ queue_

ros::CallbackQueue gazebo::GazeboRosFT::queue_

private

Definition at line 145 of file gazebo_ros_ft_sensor.h.

◆ robot_namespace_

std::string gazebo::GazeboRosFT::robot_namespace_

private

for setting ROS name space

Definition at line 128 of file gazebo_ros_ft_sensor.h.

◆ rosnode_

ros::NodeHandle* gazebo::GazeboRosFT::rosnode_

private

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 111 of file gazebo_ros_ft_sensor.h.

◆ topic_name_

std::string gazebo::GazeboRosFT::topic_name_

private

ROS WrenchStamped topic name.

Definition at line 121 of file gazebo_ros_ft_sensor.h.

◆ update_connection_

event::ConnectionPtr gazebo::GazeboRosFT::update_connection_

private

Definition at line 150 of file gazebo_ros_ft_sensor.h.

◆ update_rate_

double gazebo::GazeboRosFT::update_rate_

private

Definition at line 137 of file gazebo_ros_ft_sensor.h.

◆ world_

physics::WorldPtr gazebo::GazeboRosFT::world_

private

A pointer to the Gazebo world.

Definition at line 108 of file gazebo_ros_ft_sensor.h.

◆ wrench_msg_

geometry_msgs::WrenchStamped gazebo::GazeboRosFT::wrench_msg_

private

ROS WrenchStamped message.

Definition at line 115 of file gazebo_ros_ft_sensor.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

◆ GazeboRosFT()

◆ ~GazeboRosFT()

Member Function Documentation

◆ FTConnect()

◆ FTDisconnect()

◆ GaussianKernel()

◆ Load()

◆ QueueThread()

◆ UpdateChild()

Member Data Documentation

◆ callback_queue_thread_

◆ child_link_

◆ frame_name_

◆ ft_connect_count_

◆ gaussian_noise_

◆ joint_

◆ joint_name_

◆ last_time_

◆ lock_

◆ model_

◆ parent_link_

◆ pub_

◆ queue_

◆ robot_namespace_

◆ rosnode_

◆ topic_name_

◆ update_connection_

◆ update_rate_

◆ world_

◆ wrench_msg_