Classes | Public Member Functions | Protected Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
gazebo::GazeboRosTricycleDrive Class Reference

#include <gazebo_ros_tricycle_drive.h>

Inheritance diagram for gazebo::GazeboRosTricycleDrive:
Inheritance graph
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Classes

class  TricycleDriveCmd
 

Public Member Functions

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

Protected Member Functions

virtual void FiniChild ()
 
virtual void UpdateChild ()
 

Private Types

enum  OdomSource { ENCODER = 0, WORLD = 1 }
 

Private Member Functions

void cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
 
void motorController (double target_speed, double target_angle, double dt)
 
void publishOdometry (double step_time)
 
void publishWheelJointState ()
 publishes the wheel tf's More...
 
void publishWheelTF ()
 
void QueueThread ()
 
void UpdateOdometryEncoder ()
 updates the relative robot pose based on the wheel encoders More...
 

Private Attributes

bool alive_
 
boost::thread callback_queue_thread_
 
TricycleDriveCmd cmd_
 
ros::Subscriber cmd_vel_subscriber_
 
std::string command_topic_
 
double diameter_actuated_wheel_
 
double diameter_encoder_wheel_
 
GazeboRosPtr gazebo_ros_
 
sensor_msgs::JointState joint_state_
 
ros::Publisher joint_state_publisher_
 
physics::JointPtr joint_steering_
 
physics::JointPtr joint_wheel_actuated_
 
physics::JointPtr joint_wheel_encoder_left_
 
physics::JointPtr joint_wheel_encoder_right_
 
common::Time last_actuator_update_
 
common::Time last_odom_update_
 
boost::mutex lock
 
nav_msgs::Odometry odom_
 
OdomSource odom_source_
 
std::string odometry_frame_
 
ros::Publisher odometry_publisher_
 
std::string odometry_topic_
 
physics::ModelPtr parent
 
geometry_msgs::Pose2D pose_encoder_
 
bool publishWheelJointState_
 
bool publishWheelTF_
 
ros::CallbackQueue queue_
 
std::string robot_base_frame_
 
std::string robot_namespace_
 
double separation_encoder_wheel_
 
double steering_angle_tolerance_
 
double steering_speed_
 
boost::shared_ptr< tf::TransformBroadcaster > transform_broadcaster_
 
event::ConnectionPtr update_connection_
 
double update_period_
 
double update_rate_
 
double wheel_acceleration_
 
double wheel_deceleration_
 
double wheel_speed_tolerance_
 
double wheel_torque_
 

Detailed Description

Definition at line 73 of file gazebo_ros_tricycle_drive.h.

Member Enumeration Documentation

◆ OdomSource

enum gazebo::GazeboRosTricycleDrive::OdomSource
private
Enumerator
ENCODER 
WORLD 

Definition at line 82 of file gazebo_ros_tricycle_drive.h.

Constructor & Destructor Documentation

◆ GazeboRosTricycleDrive()

gazebo::GazeboRosTricycleDrive::GazeboRosTricycleDrive ( )

Definition at line 68 of file gazebo_ros_tricycle_drive.cpp.

◆ ~GazeboRosTricycleDrive()

gazebo::GazeboRosTricycleDrive::~GazeboRosTricycleDrive ( )

Definition at line 71 of file gazebo_ros_tricycle_drive.cpp.

Member Function Documentation

◆ cmdVelCallback()

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

Definition at line 340 of file gazebo_ros_tricycle_drive.cpp.

◆ FiniChild()

void gazebo::GazeboRosTricycleDrive::FiniChild ( )
protectedvirtual

Definition at line 331 of file gazebo_ros_tricycle_drive.cpp.

◆ Load()

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

Definition at line 74 of file gazebo_ros_tricycle_drive.cpp.

◆ motorController()

void gazebo::GazeboRosTricycleDrive::motorController ( double  target_speed,
double  target_angle,
double  dt 
)
private

Definition at line 238 of file gazebo_ros_tricycle_drive.cpp.

◆ publishOdometry()

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

Definition at line 406 of file gazebo_ros_tricycle_drive.cpp.

◆ publishWheelJointState()

void gazebo::GazeboRosTricycleDrive::publishWheelJointState ( )
private

publishes the wheel tf's

Definition at line 157 of file gazebo_ros_tricycle_drive.cpp.

◆ publishWheelTF()

void gazebo::GazeboRosTricycleDrive::publishWheelTF ( )
private

Definition at line 184 of file gazebo_ros_tricycle_drive.cpp.

◆ QueueThread()

void gazebo::GazeboRosTricycleDrive::QueueThread ( )
private

Definition at line 347 of file gazebo_ros_tricycle_drive.cpp.

◆ UpdateChild()

void gazebo::GazeboRosTricycleDrive::UpdateChild ( )
protectedvirtual

Definition at line 211 of file gazebo_ros_tricycle_drive.cpp.

◆ UpdateOdometryEncoder()

void gazebo::GazeboRosTricycleDrive::UpdateOdometryEncoder ( )
private

updates the relative robot pose based on the wheel encoders

Definition at line 356 of file gazebo_ros_tricycle_drive.cpp.

Member Data Documentation

◆ alive_

bool gazebo::GazeboRosTricycleDrive::alive_
private

Definition at line 152 of file gazebo_ros_tricycle_drive.h.

◆ callback_queue_thread_

boost::thread gazebo::GazeboRosTricycleDrive::callback_queue_thread_
private

Definition at line 142 of file gazebo_ros_tricycle_drive.h.

◆ cmd_

TricycleDriveCmd gazebo::GazeboRosTricycleDrive::cmd_
private

Definition at line 151 of file gazebo_ros_tricycle_drive.h.

◆ cmd_vel_subscriber_

ros::Subscriber gazebo::GazeboRosTricycleDrive::cmd_vel_subscriber_
private

Definition at line 131 of file gazebo_ros_tricycle_drive.h.

◆ command_topic_

std::string gazebo::GazeboRosTricycleDrive::command_topic_
private

Definition at line 124 of file gazebo_ros_tricycle_drive.h.

◆ diameter_actuated_wheel_

double gazebo::GazeboRosTricycleDrive::diameter_actuated_wheel_
private

Definition at line 112 of file gazebo_ros_tricycle_drive.h.

◆ diameter_encoder_wheel_

double gazebo::GazeboRosTricycleDrive::diameter_encoder_wheel_
private

Definition at line 111 of file gazebo_ros_tricycle_drive.h.

◆ gazebo_ros_

GazeboRosPtr gazebo::GazeboRosTricycleDrive::gazebo_ros_
private

Definition at line 97 of file gazebo_ros_tricycle_drive.h.

◆ joint_state_

sensor_msgs::JointState gazebo::GazeboRosTricycleDrive::joint_state_
private

Definition at line 133 of file gazebo_ros_tricycle_drive.h.

◆ joint_state_publisher_

ros::Publisher gazebo::GazeboRosTricycleDrive::joint_state_publisher_
private

Definition at line 134 of file gazebo_ros_tricycle_drive.h.

◆ joint_steering_

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_steering_
private

Definition at line 106 of file gazebo_ros_tricycle_drive.h.

◆ joint_wheel_actuated_

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_wheel_actuated_
private

Definition at line 107 of file gazebo_ros_tricycle_drive.h.

◆ joint_wheel_encoder_left_

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_wheel_encoder_left_
private

Definition at line 108 of file gazebo_ros_tricycle_drive.h.

◆ joint_wheel_encoder_right_

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_wheel_encoder_right_
private

Definition at line 109 of file gazebo_ros_tricycle_drive.h.

◆ last_actuator_update_

common::Time gazebo::GazeboRosTricycleDrive::last_actuator_update_
private

Definition at line 159 of file gazebo_ros_tricycle_drive.h.

◆ last_odom_update_

common::Time gazebo::GazeboRosTricycleDrive::last_odom_update_
private

Definition at line 154 of file gazebo_ros_tricycle_drive.h.

◆ lock

boost::mutex gazebo::GazeboRosTricycleDrive::lock
private

Definition at line 137 of file gazebo_ros_tricycle_drive.h.

◆ odom_

nav_msgs::Odometry gazebo::GazeboRosTricycleDrive::odom_
private

Definition at line 135 of file gazebo_ros_tricycle_drive.h.

◆ odom_source_

OdomSource gazebo::GazeboRosTricycleDrive::odom_source_
private

Definition at line 120 of file gazebo_ros_tricycle_drive.h.

◆ odometry_frame_

std::string gazebo::GazeboRosTricycleDrive::odometry_frame_
private

Definition at line 126 of file gazebo_ros_tricycle_drive.h.

◆ odometry_publisher_

ros::Publisher gazebo::GazeboRosTricycleDrive::odometry_publisher_
private

Definition at line 130 of file gazebo_ros_tricycle_drive.h.

◆ odometry_topic_

std::string gazebo::GazeboRosTricycleDrive::odometry_topic_
private

Definition at line 125 of file gazebo_ros_tricycle_drive.h.

◆ parent

physics::ModelPtr gazebo::GazeboRosTricycleDrive::parent
private

Definition at line 98 of file gazebo_ros_tricycle_drive.h.

◆ pose_encoder_

geometry_msgs::Pose2D gazebo::GazeboRosTricycleDrive::pose_encoder_
private

Definition at line 153 of file gazebo_ros_tricycle_drive.h.

◆ publishWheelJointState_

bool gazebo::GazeboRosTricycleDrive::publishWheelJointState_
private

Definition at line 163 of file gazebo_ros_tricycle_drive.h.

◆ publishWheelTF_

bool gazebo::GazeboRosTricycleDrive::publishWheelTF_
private

Definition at line 162 of file gazebo_ros_tricycle_drive.h.

◆ queue_

ros::CallbackQueue gazebo::GazeboRosTricycleDrive::queue_
private

Definition at line 141 of file gazebo_ros_tricycle_drive.h.

◆ robot_base_frame_

std::string gazebo::GazeboRosTricycleDrive::robot_base_frame_
private

Definition at line 127 of file gazebo_ros_tricycle_drive.h.

◆ robot_namespace_

std::string gazebo::GazeboRosTricycleDrive::robot_namespace_
private

Definition at line 123 of file gazebo_ros_tricycle_drive.h.

◆ separation_encoder_wheel_

double gazebo::GazeboRosTricycleDrive::separation_encoder_wheel_
private

Definition at line 118 of file gazebo_ros_tricycle_drive.h.

◆ steering_angle_tolerance_

double gazebo::GazeboRosTricycleDrive::steering_angle_tolerance_
private

Definition at line 116 of file gazebo_ros_tricycle_drive.h.

◆ steering_speed_

double gazebo::GazeboRosTricycleDrive::steering_speed_
private

Definition at line 117 of file gazebo_ros_tricycle_drive.h.

◆ transform_broadcaster_

boost::shared_ptr<tf::TransformBroadcaster> gazebo::GazeboRosTricycleDrive::transform_broadcaster_
private

Definition at line 132 of file gazebo_ros_tricycle_drive.h.

◆ update_connection_

event::ConnectionPtr gazebo::GazeboRosTricycleDrive::update_connection_
private

Definition at line 104 of file gazebo_ros_tricycle_drive.h.

◆ update_period_

double gazebo::GazeboRosTricycleDrive::update_period_
private

Definition at line 158 of file gazebo_ros_tricycle_drive.h.

◆ update_rate_

double gazebo::GazeboRosTricycleDrive::update_rate_
private

Definition at line 157 of file gazebo_ros_tricycle_drive.h.

◆ wheel_acceleration_

double gazebo::GazeboRosTricycleDrive::wheel_acceleration_
private

Definition at line 113 of file gazebo_ros_tricycle_drive.h.

◆ wheel_deceleration_

double gazebo::GazeboRosTricycleDrive::wheel_deceleration_
private

Definition at line 114 of file gazebo_ros_tricycle_drive.h.

◆ wheel_speed_tolerance_

double gazebo::GazeboRosTricycleDrive::wheel_speed_tolerance_
private

Definition at line 115 of file gazebo_ros_tricycle_drive.h.

◆ wheel_torque_

double gazebo::GazeboRosTricycleDrive::wheel_torque_
private

Definition at line 121 of file gazebo_ros_tricycle_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