#include <gazebo_ros_range.h>

Inheritance diagram for gazebo::GazeboRosRange:

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

void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin. More...

	~GazeboRosRange ()
	Destructor. More...

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

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

void	LoadThread ()

void	PutRangeData (common::Time &_updateTime)
	Put range data to the ROS topic. More...

void	RangeConnect ()

void	RangeDisconnect ()

void	RangeQueueThread ()

Private Attributes
boost::thread	callback_queue_thread_

boost::thread	deferred_load_thread_

double	fov_
	sensor field of view More...

std::string	frame_name_
	frame transform name, should match link name More...

double	gaussian_noise_
	Gaussian noise. More...

double	hokuyo_min_intensity_
	hack to mimic hokuyo intensity cutoff of 100 More...

common::Time	last_update_time_

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

sensors::RaySensorPtr	parent_ray_sensor_

sensors::SensorPtr	parent_sensor_
	The parent sensor. More...

ros::Publisher	pub_

std::string	radiation_
	radiation type : ultrasound or infrared More...

int	range_connect_count_
	Keep track of number of connctions. More...

sensor_msgs::Range	range_msg_
	ros message More...

ros::CallbackQueue	range_queue_

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

ros::NodeHandle *	rosnode_
	pointer to ros node More...

sdf::ElementPtr	sdf

std::string	topic_name_
	topic name More...

double	update_period_

double	update_rate_
	update rate of this sensor More...

physics::WorldPtr	world_

Detailed Description

Definition at line 66 of file gazebo_ros_range.h.

Constructor & Destructor Documentation

◆ GazeboRosRange()

gazebo::GazeboRosRange::GazeboRosRange ( )

Constructor.

Definition at line 64 of file gazebo_ros_range.cpp.

◆ ~GazeboRosRange()

gazebo::GazeboRosRange::~GazeboRosRange ( )

Destructor.

Definition at line 70 of file gazebo_ros_range.cpp.

Member Function Documentation

◆ GaussianKernel()

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

private

Gaussian noise generator.

Definition at line 315 of file gazebo_ros_range.cpp.

◆ Load()

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

Load the plugin.

Parameters

take	in SDF root element

Definition at line 82 of file gazebo_ros_range.cpp.

◆ LoadThread()

void gazebo::GazeboRosRange::LoadThread ( )

private

Definition at line 192 of file gazebo_ros_range.cpp.

◆ OnNewLaserScans()

void gazebo::GazeboRosRange::OnNewLaserScans ( )

protectedvirtual

Update the controller.

Definition at line 242 of file gazebo_ros_range.cpp.

◆ PutRangeData()

void gazebo::GazeboRosRange::PutRangeData ( common::Time & _updateTime )

private

Put range data to the ROS topic.

Definition at line 273 of file gazebo_ros_range.cpp.

◆ RangeConnect()

void gazebo::GazeboRosRange::RangeConnect ( )

private

Definition at line 224 of file gazebo_ros_range.cpp.

◆ RangeDisconnect()

void gazebo::GazeboRosRange::RangeDisconnect ( )

private

Definition at line 231 of file gazebo_ros_range.cpp.

◆ RangeQueueThread()

void gazebo::GazeboRosRange::RangeQueueThread ( )

private

Definition at line 337 of file gazebo_ros_range.cpp.

Member Data Documentation

◆ callback_queue_thread_

boost::thread gazebo::GazeboRosRange::callback_queue_thread_

private

Definition at line 136 of file gazebo_ros_range.h.

◆ deferred_load_thread_

boost::thread gazebo::GazeboRosRange::deferred_load_thread_

private

Definition at line 141 of file gazebo_ros_range.h.

◆ fov_

double gazebo::GazeboRosRange::fov_

private

sensor field of view

Definition at line 113 of file gazebo_ros_range.h.

◆ frame_name_

std::string gazebo::GazeboRosRange::frame_name_

private

frame transform name, should match link name

Definition at line 107 of file gazebo_ros_range.h.

◆ gaussian_noise_

double gazebo::GazeboRosRange::gaussian_noise_

private

Gaussian noise.

Definition at line 115 of file gazebo_ros_range.h.

◆ hokuyo_min_intensity_

double gazebo::GazeboRosRange::hokuyo_min_intensity_

private

hack to mimic hokuyo intensity cutoff of 100

Definition at line 124 of file gazebo_ros_range.h.

◆ last_update_time_

common::Time gazebo::GazeboRosRange::last_update_time_

private

Definition at line 129 of file gazebo_ros_range.h.

◆ lock_

boost::mutex gazebo::GazeboRosRange::lock_

private

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

Definition at line 121 of file gazebo_ros_range.h.

◆ parent_ray_sensor_

sensors::RaySensorPtr gazebo::GazeboRosRange::parent_ray_sensor_

private

Definition at line 94 of file gazebo_ros_range.h.

◆ parent_sensor_

sensors::SensorPtr gazebo::GazeboRosRange::parent_sensor_

private

The parent sensor.

Definition at line 93 of file gazebo_ros_range.h.

◆ pub_

ros::Publisher gazebo::GazeboRosRange::pub_

private

Definition at line 98 of file gazebo_ros_range.h.

◆ radiation_

std::string gazebo::GazeboRosRange::radiation_

private

radiation type : ultrasound or infrared

Definition at line 110 of file gazebo_ros_range.h.

◆ range_connect_count_

int gazebo::GazeboRosRange::range_connect_count_

private

Keep track of number of connctions.

Definition at line 86 of file gazebo_ros_range.h.

◆ range_msg_

sensor_msgs::Range gazebo::GazeboRosRange::range_msg_

private

ros message

Definition at line 101 of file gazebo_ros_range.h.

◆ range_queue_

ros::CallbackQueue gazebo::GazeboRosRange::range_queue_

private

Definition at line 134 of file gazebo_ros_range.h.

◆ robot_namespace_

std::string gazebo::GazeboRosRange::robot_namespace_

private

for setting ROS name space

Definition at line 132 of file gazebo_ros_range.h.

◆ rosnode_

ros::NodeHandle* gazebo::GazeboRosRange::rosnode_

private

pointer to ros node

Definition at line 97 of file gazebo_ros_range.h.

◆ sdf

sdf::ElementPtr gazebo::GazeboRosRange::sdf

private

Definition at line 139 of file gazebo_ros_range.h.

◆ topic_name_

std::string gazebo::GazeboRosRange::topic_name_

private

topic name

Definition at line 104 of file gazebo_ros_range.h.

◆ update_period_

double gazebo::GazeboRosRange::update_period_

private

Definition at line 128 of file gazebo_ros_range.h.

◆ update_rate_

double gazebo::GazeboRosRange::update_rate_

private

update rate of this sensor

Definition at line 127 of file gazebo_ros_range.h.

◆ world_

physics::WorldPtr gazebo::GazeboRosRange::world_

private

Definition at line 91 of file gazebo_ros_range.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

◆ GazeboRosRange()

◆ ~GazeboRosRange()

Member Function Documentation

◆ GaussianKernel()

◆ Load()

◆ LoadThread()

◆ OnNewLaserScans()

◆ PutRangeData()

◆ RangeConnect()

◆ RangeDisconnect()

◆ RangeQueueThread()

Member Data Documentation

◆ callback_queue_thread_

◆ deferred_load_thread_

◆ fov_

◆ frame_name_

◆ gaussian_noise_

◆ hokuyo_min_intensity_

◆ last_update_time_

◆ lock_

◆ parent_ray_sensor_

◆ parent_sensor_

◆ pub_

◆ radiation_

◆ range_connect_count_

◆ range_msg_

◆ range_queue_

◆ robot_namespace_

◆ rosnode_

◆ sdf

◆ topic_name_

◆ update_period_

◆ update_rate_

◆ world_