gazebo::GazeboRosWheelSlip Class Reference

See the Gazebo documentation about the WheelSlipPlugin. This ROS wrapper exposes two parameters via dynamic reconfigure: More...

#include <gazebo_ros_wheel_slip.h>

Inheritance diagram for gazebo::GazeboRosWheelSlip:

Public Member Functions
	GazeboRosWheelSlip ()
	Constructor. More...
virtual void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin. More...
virtual	~GazeboRosWheelSlip ()
	Destructor. More...

Private Member Functions
void	configCallback (gazebo_plugins::WheelSlipConfig &config, uint32_t level)
void	QueueThread ()
	Custom callback queue thread. More...

Private Attributes
boost::thread	callbackQueueThread_
dynamic_reconfigure::Server< gazebo_plugins::WheelSlipConfig > *	dyn_srv_
	Dynamic reconfigure server. More...
ros::CallbackQueue	queue_
std::string	robotNamespace_
	for setting ROS name space More...
ros::NodeHandle *	rosnode_
	pointer to ros node More...

Detailed Description

See the Gazebo documentation about the WheelSlipPlugin. This ROS wrapper exposes two parameters via dynamic reconfigure:

1. slip_compliance_unitless_lateral
   • Type: double
   • Description: Unitless slip compliance (slip / friction) in the lateral direction. This value is applied to all wheels declared in the WheelSlipPlugin.
2. slip_compliance_unitless_longitudinal
   • Type: double
   • Description: Unitless slip compliance (slip / friction) in the longitudinal direction. This value is applied to all wheels declared in the WheelSlipPlugin.

Definition at line 49 of file gazebo_ros_wheel_slip.h.

Constructor & Destructor Documentation

GazeboRosWheelSlip()

gazebo::GazeboRosWheelSlip::GazeboRosWheelSlip

(

)

Constructor.

Definition at line 30 of file gazebo_ros_wheel_slip.cpp.

~GazeboRosWheelSlip()

gazebo::GazeboRosWheelSlip::~GazeboRosWheelSlip ( )

virtual

Destructor.

Definition at line 35 of file gazebo_ros_wheel_slip.cpp.

Member Function Documentation

configCallback()

void gazebo::GazeboRosWheelSlip::configCallback ( gazebo_plugins::WheelSlipConfig &  config, uint32_t  level  )

private

Definition at line 48 of file gazebo_ros_wheel_slip.cpp.

Load()

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

virtual

Load the plugin.

Definition at line 69 of file gazebo_ros_wheel_slip.cpp.

QueueThread()

void gazebo::GazeboRosWheelSlip::QueueThread ( )

private

Custom callback queue thread.

Definition at line 112 of file gazebo_ros_wheel_slip.cpp.

Member Data Documentation

callbackQueueThread_

boost::thread gazebo::GazeboRosWheelSlip::callbackQueueThread_

private

Definition at line 78 of file gazebo_ros_wheel_slip.h.

dyn_srv_

dynamic_reconfigure::Server<gazebo_plugins::WheelSlipConfig>* gazebo::GazeboRosWheelSlip::dyn_srv_

private

Dynamic reconfigure server.

Definition at line 73 of file gazebo_ros_wheel_slip.h.

queue_

ros::CallbackQueue gazebo::GazeboRosWheelSlip::queue_

private

Definition at line 77 of file gazebo_ros_wheel_slip.h.

robotNamespace_

std::string gazebo::GazeboRosWheelSlip::robotNamespace_

private

for setting ROS name space

Definition at line 76 of file gazebo_ros_wheel_slip.h.

rosnode_

ros::NodeHandle* gazebo::GazeboRosWheelSlip::rosnode_

private

pointer to ros node

Definition at line 69 of file gazebo_ros_wheel_slip.h.

---

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

• gazebo_ros_wheel_slip.h
• gazebo_ros_wheel_slip.cpp