gazebo_ros_control::GazeboRosControlPlugin Class Reference

#include <gazebo_ros_control_plugin.h>

Inheritance diagram for gazebo_ros_control::GazeboRosControlPlugin:

Public Member Functions
std::string	getURDF (std::string param_name) const
virtual void	Load (gazebo::physics::ModelPtr parent, sdf::ElementPtr sdf)
bool	parseTransmissionsFromURDF (const std::string &urdf_string)
virtual void	Reset ()
void	Update ()
virtual	~GazeboRosControlPlugin ()

Protected Member Functions
void	eStopCB (const std_msgs::BoolConstPtr &e_stop_active)
void	load_robot_hw_sim_srv ()

Protected Attributes
ros::Duration	control_period_
boost::shared_ptr< controller_manager::ControllerManager >	controller_manager_
boost::thread	deferred_load_thread_
bool	e_stop_active_
ros::Subscriber	e_stop_sub_
bool	last_e_stop_active_
ros::Time	last_update_sim_time_ros_
ros::Time	last_write_sim_time_ros_
ros::NodeHandle	model_nh_
gazebo::physics::ModelPtr	parent_model_
std::string	robot_description_
boost::shared_ptr< gazebo_ros_control::RobotHWSim >	robot_hw_sim_
boost::shared_ptr< pluginlib::ClassLoader< gazebo_ros_control::RobotHWSim > >	robot_hw_sim_loader_
std::string	robot_hw_sim_type_str_
std::string	robot_namespace_
sdf::ElementPtr	sdf_
std::vector< transmission_interface::TransmissionInfo >	transmissions_
gazebo::event::ConnectionPtr	update_connection_

Detailed Description

Definition at line 64 of file gazebo_ros_control_plugin.h.

Constructor & Destructor Documentation

~GazeboRosControlPlugin()

gazebo_ros_control::GazeboRosControlPlugin::~GazeboRosControlPlugin ( )

virtual

Definition at line 53 of file gazebo_ros_control_plugin.cpp.

Member Function Documentation

eStopCB()

void gazebo_ros_control::GazeboRosControlPlugin::eStopCB ( const std_msgs::BoolConstPtr &  e_stop_active )

protected

Definition at line 307 of file gazebo_ros_control_plugin.cpp.

getURDF()

std::string gazebo_ros_control::GazeboRosControlPlugin::getURDF

(

std::string

param_name

)

const

Definition at line 269 of file gazebo_ros_control_plugin.cpp.

Load()

void gazebo_ros_control::GazeboRosControlPlugin::Load ( gazebo::physics::ModelPtr  parent, sdf::ElementPtr  sdf  )

virtual

Definition at line 60 of file gazebo_ros_control_plugin.cpp.

load_robot_hw_sim_srv()

void gazebo_ros_control::GazeboRosControlPlugin::load_robot_hw_sim_srv ( )

protected

parseTransmissionsFromURDF()

bool gazebo_ros_control::GazeboRosControlPlugin::parseTransmissionsFromURDF

(

const std::string &

urdf_string

)

Definition at line 300 of file gazebo_ros_control_plugin.cpp.

Reset()

void gazebo_ros_control::GazeboRosControlPlugin::Reset ( )

virtual

Definition at line 261 of file gazebo_ros_control_plugin.cpp.

Update()

void gazebo_ros_control::GazeboRosControlPlugin::Update

(

)

Definition at line 211 of file gazebo_ros_control_plugin.cpp.

Member Data Documentation

control_period_

ros::Duration gazebo_ros_control::GazeboRosControlPlugin::control_period_

protected

Definition at line 120 of file gazebo_ros_control_plugin.h.

controller_manager_

boost::shared_ptr<controller_manager::ControllerManager> gazebo_ros_control::GazeboRosControlPlugin::controller_manager_

protected

Definition at line 117 of file gazebo_ros_control_plugin.h.

deferred_load_thread_

boost::thread gazebo_ros_control::GazeboRosControlPlugin::deferred_load_thread_

protected

Definition at line 96 of file gazebo_ros_control_plugin.h.

e_stop_active_

bool gazebo_ros_control::GazeboRosControlPlugin::e_stop_active_

protected

Definition at line 125 of file gazebo_ros_control_plugin.h.

e_stop_sub_

ros::Subscriber gazebo_ros_control::GazeboRosControlPlugin::e_stop_sub_

protected

Definition at line 126 of file gazebo_ros_control_plugin.h.

last_e_stop_active_

bool gazebo_ros_control::GazeboRosControlPlugin::last_e_stop_active_

protected

Definition at line 125 of file gazebo_ros_control_plugin.h.

last_update_sim_time_ros_

ros::Time gazebo_ros_control::GazeboRosControlPlugin::last_update_sim_time_ros_

protected

Definition at line 121 of file gazebo_ros_control_plugin.h.

last_write_sim_time_ros_

ros::Time gazebo_ros_control::GazeboRosControlPlugin::last_write_sim_time_ros_

protected

Definition at line 122 of file gazebo_ros_control_plugin.h.

model_nh_

ros::NodeHandle gazebo_ros_control::GazeboRosControlPlugin::model_nh_

protected

Definition at line 89 of file gazebo_ros_control_plugin.h.

parent_model_

gazebo::physics::ModelPtr gazebo_ros_control::GazeboRosControlPlugin::parent_model_

protected

Definition at line 92 of file gazebo_ros_control_plugin.h.

robot_description_

std::string gazebo_ros_control::GazeboRosControlPlugin::robot_description_

protected

Definition at line 107 of file gazebo_ros_control_plugin.h.

robot_hw_sim_

boost::shared_ptr<gazebo_ros_control::RobotHWSim> gazebo_ros_control::GazeboRosControlPlugin::robot_hw_sim_

protected

Definition at line 114 of file gazebo_ros_control_plugin.h.

robot_hw_sim_loader_

boost::shared_ptr<pluginlib::ClassLoader<gazebo_ros_control::RobotHWSim> > gazebo_ros_control::GazeboRosControlPlugin::robot_hw_sim_loader_

protected

Definition at line 102 of file gazebo_ros_control_plugin.h.

robot_hw_sim_type_str_

std::string gazebo_ros_control::GazeboRosControlPlugin::robot_hw_sim_type_str_

protected

Definition at line 113 of file gazebo_ros_control_plugin.h.

robot_namespace_

std::string gazebo_ros_control::GazeboRosControlPlugin::robot_namespace_

protected

Definition at line 106 of file gazebo_ros_control_plugin.h.

sdf_

sdf::ElementPtr gazebo_ros_control::GazeboRosControlPlugin::sdf_

protected

Definition at line 93 of file gazebo_ros_control_plugin.h.

transmissions_

std::vector<transmission_interface::TransmissionInfo> gazebo_ros_control::GazeboRosControlPlugin::transmissions_

protected

Definition at line 110 of file gazebo_ros_control_plugin.h.

update_connection_

gazebo::event::ConnectionPtr gazebo_ros_control::GazeboRosControlPlugin::update_connection_

protected

Definition at line 99 of file gazebo_ros_control_plugin.h.

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

• gazebo_ros_control_plugin.h
• gazebo_ros_control_plugin.cpp