Gazebo Ros imu sensor plugin. More...

#include <gazebo_ros_imu_sensor.h>

Inheritance diagram for gazebo::GazeboRosImuSensor:

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

virtual void	Load (sensors::SensorPtr sensor_, sdf::ElementPtr sdf_)
	Load the sensor. More...

virtual	~GazeboRosImuSensor ()
	Destructor. More...

Protected Member Functions
virtual void	UpdateChild (const gazebo::common::UpdateInfo &)
	Update the sensor. More...

Private Member Functions
double	GuassianKernel (double mu, double sigma)
	Gaussian noise generator. More...

bool	LoadParameters ()
	Load the parameters from the sdf file. More...

Private Attributes
ignition::math::Vector3d	accelerometer_data
	Linear acceleration data from the sensor. More...

std::string	body_name
	Name of the link of the IMU. More...

gazebo::event::ConnectionPtr	connection
	Pointer to the update event connection. More...

double	gaussian_noise
	Gaussian noise. More...

ignition::math::Vector3d	gyroscope_data
	Angular velocity data from the sensor. More...

ros::Publisher	imu_data_publisher
	Ros Publisher for imu data. More...

sensor_msgs::Imu	imu_msg
	Ros IMU message. More...

common::Time	last_time
	last time on which the data was published. More...

ros::NodeHandle *	node
	Ros NodeHandle pointer. More...

ignition::math::Pose3d	offset
	Offset parameter, position part is unused. More...

ignition::math::Quaterniond	orientation
	Orientation data from the sensor. More...

std::string	robot_namespace
	The data is published on the topic named: /robot_namespace/topic_name. More...

sdf::ElementPtr	sdf
	Pointer to the sdf config file. More...

sensors::ImuSensor *	sensor
	Pointer to the sensor. More...

std::string	topic_name
	The data is published on the topic named: /robot_namespace/topic_name. More...

double	update_rate
	Sensor update rate. More...

Detailed Description

Gazebo Ros imu sensor plugin.

GazeboRosImuSensor is a plugin to simulate an Inertial Motion Unit sensor, the main differences from GazeboRosIMU are:

inheritance from SensorPlugin instead of ModelPlugin,
measurements are given by gazebo ImuSensor instead of being computed by the ros plugin,
gravity is included in inertial measurements.

Definition at line 42 of file gazebo_ros_imu_sensor.h.

Constructor & Destructor Documentation

◆ GazeboRosImuSensor()

gazebo::GazeboRosImuSensor::GazeboRosImuSensor ( )

Constructor.

Definition at line 25 of file gazebo_ros_imu_sensor.cpp.

◆ ~GazeboRosImuSensor()

gazebo::GazeboRosImuSensor::~GazeboRosImuSensor ( )

virtual

Destructor.

Definition at line 238 of file gazebo_ros_imu_sensor.cpp.

Member Function Documentation

◆ GuassianKernel()

double gazebo::GazeboRosImuSensor::GuassianKernel	(	double	mu,
		double	sigma
	)

private

Gaussian noise generator.

Parameters

mu	offset value.
sigma	scaling value.

Definition at line 130 of file gazebo_ros_imu_sensor.cpp.

◆ Load()

void gazebo::GazeboRosImuSensor::Load	(	sensors::SensorPtr	sensor_,
		sdf::ElementPtr	sdf_
	)

virtual

Load the sensor.

Parameters

sensor_	pointer to the sensor.
sdf_	pointer to the sdf config file.

Definition at line 33 of file gazebo_ros_imu_sensor.cpp.

◆ LoadParameters()

bool gazebo::GazeboRosImuSensor::LoadParameters ( )

private

Load the parameters from the sdf file.

Definition at line 144 of file gazebo_ros_imu_sensor.cpp.

◆ UpdateChild()

void gazebo::GazeboRosImuSensor::UpdateChild ( const gazebo::common::UpdateInfo & )

protectedvirtual

Update the sensor.

Definition at line 77 of file gazebo_ros_imu_sensor.cpp.

Member Data Documentation

◆ accelerometer_data

ignition::math::Vector3d gazebo::GazeboRosImuSensor::accelerometer_data

private

Linear acceleration data from the sensor.

Definition at line 84 of file gazebo_ros_imu_sensor.h.

◆ body_name

std::string gazebo::GazeboRosImuSensor::body_name

private

Name of the link of the IMU.

Definition at line 94 of file gazebo_ros_imu_sensor.h.

◆ connection

gazebo::event::ConnectionPtr gazebo::GazeboRosImuSensor::connection

private

Pointer to the update event connection.

Definition at line 76 of file gazebo_ros_imu_sensor.h.

◆ gaussian_noise

double gazebo::GazeboRosImuSensor::gaussian_noise

private

Gaussian noise.

Definition at line 98 of file gazebo_ros_imu_sensor.h.

◆ gyroscope_data

ignition::math::Vector3d gazebo::GazeboRosImuSensor::gyroscope_data

private

Angular velocity data from the sensor.

Definition at line 86 of file gazebo_ros_imu_sensor.h.

◆ imu_data_publisher

ros::Publisher gazebo::GazeboRosImuSensor::imu_data_publisher

private

Ros Publisher for imu data.

Definition at line 69 of file gazebo_ros_imu_sensor.h.

◆ imu_msg

sensor_msgs::Imu gazebo::GazeboRosImuSensor::imu_msg

private

Ros IMU message.

Definition at line 71 of file gazebo_ros_imu_sensor.h.

◆ last_time

common::Time gazebo::GazeboRosImuSensor::last_time

private

last time on which the data was published.

Definition at line 74 of file gazebo_ros_imu_sensor.h.

◆ node

ros::NodeHandle* gazebo::GazeboRosImuSensor::node

private

Ros NodeHandle pointer.

Definition at line 67 of file gazebo_ros_imu_sensor.h.

◆ offset

ignition::math::Pose3d gazebo::GazeboRosImuSensor::offset

private

Offset parameter, position part is unused.

Definition at line 100 of file gazebo_ros_imu_sensor.h.

◆ orientation

ignition::math::Quaterniond gazebo::GazeboRosImuSensor::orientation

private

Orientation data from the sensor.

Definition at line 82 of file gazebo_ros_imu_sensor.h.

◆ robot_namespace

std::string gazebo::GazeboRosImuSensor::robot_namespace

private

The data is published on the topic named: /robot_namespace/topic_name.

Definition at line 90 of file gazebo_ros_imu_sensor.h.

◆ sdf

sdf::ElementPtr gazebo::GazeboRosImuSensor::sdf

private

Pointer to the sdf config file.

Definition at line 80 of file gazebo_ros_imu_sensor.h.

◆ sensor

sensors::ImuSensor* gazebo::GazeboRosImuSensor::sensor

private

Pointer to the sensor.

Definition at line 78 of file gazebo_ros_imu_sensor.h.

◆ topic_name

std::string gazebo::GazeboRosImuSensor::topic_name

private

The data is published on the topic named: /robot_namespace/topic_name.

Definition at line 92 of file gazebo_ros_imu_sensor.h.

◆ update_rate

double gazebo::GazeboRosImuSensor::update_rate

private

Sensor update rate.

Definition at line 96 of file gazebo_ros_imu_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

◆ GazeboRosImuSensor()

◆ ~GazeboRosImuSensor()

Member Function Documentation

◆ GuassianKernel()

◆ Load()

◆ LoadParameters()

◆ UpdateChild()

Member Data Documentation

◆ accelerometer_data

◆ body_name

◆ connection

◆ gaussian_noise

◆ gyroscope_data

◆ imu_data_publisher

◆ imu_msg

◆ last_time

◆ node

◆ offset

◆ orientation

◆ robot_namespace

◆ sdf

◆ sensor

◆ topic_name

◆ update_rate