Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
gazebo::GazeboRosSkidSteerDrive Class Reference

#include <gazebo_ros_skid_steer_drive.h>

Inheritance diagram for gazebo::GazeboRosSkidSteerDrive:
Inheritance graph
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Public Member Functions

 GazeboRosSkidSteerDrive ()
 
void Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
 
 ~GazeboRosSkidSteerDrive ()
 

Protected Member Functions

virtual void FiniChild ()
 
virtual void UpdateChild ()
 

Private Member Functions

void cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
 
void getWheelVelocities ()
 
void publishOdometry (double step_time)
 
void QueueThread ()
 

Private Attributes

bool alive_
 
bool broadcast_tf_
 
boost::thread callback_queue_thread_
 
ros::Subscriber cmd_vel_subscriber_
 
std::string command_topic_
 
double covariance_x_
 
double covariance_y_
 
double covariance_yaw_
 
physics::JointPtr joints [4]
 
common::Time last_update_time_
 
std::string left_front_joint_name_
 
std::string left_rear_joint_name_
 
boost::mutex lock
 
nav_msgs::Odometry odom_
 
std::string odometry_frame_
 
ros::Publisher odometry_publisher_
 
std::string odometry_topic_
 
physics::ModelPtr parent
 
ros::CallbackQueue queue_
 
std::string right_front_joint_name_
 
std::string right_rear_joint_name_
 
std::string robot_base_frame_
 
std::string robot_namespace_
 
ros::NodeHandle * rosnode_
 
double rot_
 
std::string tf_prefix_
 
double torque
 
tf::TransformBroadcaster * transform_broadcaster_
 
event::ConnectionPtr update_connection_
 
double update_period_
 
double update_rate_
 
double wheel_diameter_
 
double wheel_separation_
 
double wheel_speed_ [4]
 
physics::WorldPtr world
 
double x_
 

Detailed Description

Definition at line 68 of file gazebo_ros_skid_steer_drive.h.

Constructor & Destructor Documentation

◆ GazeboRosSkidSteerDrive()

gazebo::GazeboRosSkidSteerDrive::GazeboRosSkidSteerDrive ( )

Definition at line 67 of file gazebo_ros_skid_steer_drive.cpp.

◆ ~GazeboRosSkidSteerDrive()

gazebo::GazeboRosSkidSteerDrive::~GazeboRosSkidSteerDrive ( )

Definition at line 70 of file gazebo_ros_skid_steer_drive.cpp.

Member Function Documentation

◆ cmdVelCallback()

void gazebo::GazeboRosSkidSteerDrive::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr &  cmd_msg)
private

Definition at line 391 of file gazebo_ros_skid_steer_drive.cpp.

◆ FiniChild()

void gazebo::GazeboRosSkidSteerDrive::FiniChild ( )
protectedvirtual

Definition at line 369 of file gazebo_ros_skid_steer_drive.cpp.

◆ getWheelVelocities()

void gazebo::GazeboRosSkidSteerDrive::getWheelVelocities ( )
private

Definition at line 377 of file gazebo_ros_skid_steer_drive.cpp.

◆ Load()

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

Definition at line 76 of file gazebo_ros_skid_steer_drive.cpp.

◆ publishOdometry()

void gazebo::GazeboRosSkidSteerDrive::publishOdometry ( double  step_time)
private

Definition at line 407 of file gazebo_ros_skid_steer_drive.cpp.

◆ QueueThread()

void gazebo::GazeboRosSkidSteerDrive::QueueThread ( )
private

Definition at line 399 of file gazebo_ros_skid_steer_drive.cpp.

◆ UpdateChild()

void gazebo::GazeboRosSkidSteerDrive::UpdateChild ( )
protectedvirtual

Definition at line 337 of file gazebo_ros_skid_steer_drive.cpp.

Member Data Documentation

◆ alive_

bool gazebo::GazeboRosSkidSteerDrive::alive_
private

Definition at line 126 of file gazebo_ros_skid_steer_drive.h.

◆ broadcast_tf_

bool gazebo::GazeboRosSkidSteerDrive::broadcast_tf_
private

Definition at line 106 of file gazebo_ros_skid_steer_drive.h.

◆ callback_queue_thread_

boost::thread gazebo::GazeboRosSkidSteerDrive::callback_queue_thread_
private

Definition at line 118 of file gazebo_ros_skid_steer_drive.h.

◆ cmd_vel_subscriber_

ros::Subscriber gazebo::GazeboRosSkidSteerDrive::cmd_vel_subscriber_
private

Definition at line 102 of file gazebo_ros_skid_steer_drive.h.

◆ command_topic_

std::string gazebo::GazeboRosSkidSteerDrive::command_topic_
private

Definition at line 111 of file gazebo_ros_skid_steer_drive.h.

◆ covariance_x_

double gazebo::GazeboRosSkidSteerDrive::covariance_x_
private

Definition at line 133 of file gazebo_ros_skid_steer_drive.h.

◆ covariance_y_

double gazebo::GazeboRosSkidSteerDrive::covariance_y_
private

Definition at line 134 of file gazebo_ros_skid_steer_drive.h.

◆ covariance_yaw_

double gazebo::GazeboRosSkidSteerDrive::covariance_yaw_
private

Definition at line 135 of file gazebo_ros_skid_steer_drive.h.

◆ joints

physics::JointPtr gazebo::GazeboRosSkidSteerDrive::joints[4]
private

Definition at line 97 of file gazebo_ros_skid_steer_drive.h.

◆ last_update_time_

common::Time gazebo::GazeboRosSkidSteerDrive::last_update_time_
private

Definition at line 131 of file gazebo_ros_skid_steer_drive.h.

◆ left_front_joint_name_

std::string gazebo::GazeboRosSkidSteerDrive::left_front_joint_name_
private

Definition at line 87 of file gazebo_ros_skid_steer_drive.h.

◆ left_rear_joint_name_

std::string gazebo::GazeboRosSkidSteerDrive::left_rear_joint_name_
private

Definition at line 89 of file gazebo_ros_skid_steer_drive.h.

◆ lock

boost::mutex gazebo::GazeboRosSkidSteerDrive::lock
private

Definition at line 108 of file gazebo_ros_skid_steer_drive.h.

◆ odom_

nav_msgs::Odometry gazebo::GazeboRosSkidSteerDrive::odom_
private

Definition at line 104 of file gazebo_ros_skid_steer_drive.h.

◆ odometry_frame_

std::string gazebo::GazeboRosSkidSteerDrive::odometry_frame_
private

Definition at line 113 of file gazebo_ros_skid_steer_drive.h.

◆ odometry_publisher_

ros::Publisher gazebo::GazeboRosSkidSteerDrive::odometry_publisher_
private

Definition at line 101 of file gazebo_ros_skid_steer_drive.h.

◆ odometry_topic_

std::string gazebo::GazeboRosSkidSteerDrive::odometry_topic_
private

Definition at line 112 of file gazebo_ros_skid_steer_drive.h.

◆ parent

physics::ModelPtr gazebo::GazeboRosSkidSteerDrive::parent
private

Definition at line 84 of file gazebo_ros_skid_steer_drive.h.

◆ queue_

ros::CallbackQueue gazebo::GazeboRosSkidSteerDrive::queue_
private

Definition at line 117 of file gazebo_ros_skid_steer_drive.h.

◆ right_front_joint_name_

std::string gazebo::GazeboRosSkidSteerDrive::right_front_joint_name_
private

Definition at line 88 of file gazebo_ros_skid_steer_drive.h.

◆ right_rear_joint_name_

std::string gazebo::GazeboRosSkidSteerDrive::right_rear_joint_name_
private

Definition at line 90 of file gazebo_ros_skid_steer_drive.h.

◆ robot_base_frame_

std::string gazebo::GazeboRosSkidSteerDrive::robot_base_frame_
private

Definition at line 114 of file gazebo_ros_skid_steer_drive.h.

◆ robot_namespace_

std::string gazebo::GazeboRosSkidSteerDrive::robot_namespace_
private

Definition at line 110 of file gazebo_ros_skid_steer_drive.h.

◆ rosnode_

ros::NodeHandle* gazebo::GazeboRosSkidSteerDrive::rosnode_
private

Definition at line 100 of file gazebo_ros_skid_steer_drive.h.

◆ rot_

double gazebo::GazeboRosSkidSteerDrive::rot_
private

Definition at line 125 of file gazebo_ros_skid_steer_drive.h.

◆ tf_prefix_

std::string gazebo::GazeboRosSkidSteerDrive::tf_prefix_
private

Definition at line 105 of file gazebo_ros_skid_steer_drive.h.

◆ torque

double gazebo::GazeboRosSkidSteerDrive::torque
private

Definition at line 94 of file gazebo_ros_skid_steer_drive.h.

◆ transform_broadcaster_

tf::TransformBroadcaster* gazebo::GazeboRosSkidSteerDrive::transform_broadcaster_
private

Definition at line 103 of file gazebo_ros_skid_steer_drive.h.

◆ update_connection_

event::ConnectionPtr gazebo::GazeboRosSkidSteerDrive::update_connection_
private

Definition at line 85 of file gazebo_ros_skid_steer_drive.h.

◆ update_period_

double gazebo::GazeboRosSkidSteerDrive::update_period_
private

Definition at line 130 of file gazebo_ros_skid_steer_drive.h.

◆ update_rate_

double gazebo::GazeboRosSkidSteerDrive::update_rate_
private

Definition at line 129 of file gazebo_ros_skid_steer_drive.h.

◆ wheel_diameter_

double gazebo::GazeboRosSkidSteerDrive::wheel_diameter_
private

Definition at line 93 of file gazebo_ros_skid_steer_drive.h.

◆ wheel_separation_

double gazebo::GazeboRosSkidSteerDrive::wheel_separation_
private

Definition at line 92 of file gazebo_ros_skid_steer_drive.h.

◆ wheel_speed_

double gazebo::GazeboRosSkidSteerDrive::wheel_speed_[4]
private

Definition at line 95 of file gazebo_ros_skid_steer_drive.h.

◆ world

physics::WorldPtr gazebo::GazeboRosSkidSteerDrive::world
private

Definition at line 83 of file gazebo_ros_skid_steer_drive.h.

◆ x_

double gazebo::GazeboRosSkidSteerDrive::x_
private

Definition at line 124 of file gazebo_ros_skid_steer_drive.h.

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

gazebo_plugins
Author(s): John Hsu
autogenerated on Wed Aug 24 2022 02:47:52