gazebo::DiffDrivePlugin6W Class Reference

#include <diffdrive_plugin_6w.h>

Inheritance diagram for gazebo::DiffDrivePlugin6W:

Public Member Functions
	DiffDrivePlugin6W ()
virtual	~DiffDrivePlugin6W ()

Protected Member Functions
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
virtual void	Reset ()
virtual void	Update ()

Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
void	GetPositionCmd ()
void	publish_odometry ()
void	QueueThread ()

Private Attributes
bool	alive_
boost::thread	callback_queue_thread_
bool	enableMotors
physics::JointPtr	joints [6]
physics::LinkPtr	link
std::string	link_name_
boost::mutex	lock
std::string	namespace_
nav_msgs::Odometry	odom_
float	odomPose [3]
float	odomVel [3]
common::Time	prevUpdateTime
ros::Publisher	pub_
ros::CallbackQueue	queue_
ros::NodeHandle *	rosnode_
float	rot_
ros::Subscriber	sub_
std::string	tf_prefix_
std::string	topic_
float	torque
tf::TransformBroadcaster *	transform_broadcaster_
event::ConnectionPtr	updateConnection
float	wheelDiam
float	wheelSep
float	wheelSpeed [2]
physics::WorldPtr	world
float	x_

Detailed Description

Definition at line 58 of file diffdrive_plugin_6w.h.

Constructor & Destructor Documentation

DiffDrivePlugin6W()

gazebo::DiffDrivePlugin6W::DiffDrivePlugin6W

(

)

Definition at line 63 of file diffdrive_plugin_6w.cpp.

~DiffDrivePlugin6W()

gazebo::DiffDrivePlugin6W::~DiffDrivePlugin6W ( )

virtual

Definition at line 68 of file diffdrive_plugin_6w.cpp.

Member Function Documentation

cmdVelCallback()

void gazebo::DiffDrivePlugin6W::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr &  cmd_msg )

private

Definition at line 292 of file diffdrive_plugin_6w.cpp.

GetPositionCmd()

void gazebo::DiffDrivePlugin6W::GetPositionCmd ( )

private

Definition at line 269 of file diffdrive_plugin_6w.cpp.

Load()

void gazebo::DiffDrivePlugin6W::Load ( physics::ModelPtr  _model, sdf::ElementPtr  _sdf  )

protectedvirtual

Definition at line 82 of file diffdrive_plugin_6w.cpp.

publish_odometry()

void gazebo::DiffDrivePlugin6W::publish_odometry ( )

private

Definition at line 319 of file diffdrive_plugin_6w.cpp.

QueueThread()

void gazebo::DiffDrivePlugin6W::QueueThread ( )

private

Definition at line 307 of file diffdrive_plugin_6w.cpp.

Reset()

void gazebo::DiffDrivePlugin6W::Reset ( )

protectedvirtual

Definition at line 172 of file diffdrive_plugin_6w.cpp.

Update()

void gazebo::DiffDrivePlugin6W::Update ( )

protectedvirtual

Definition at line 201 of file diffdrive_plugin_6w.cpp.

Member Data Documentation

alive_

bool gazebo::DiffDrivePlugin6W::alive_

private

Definition at line 114 of file diffdrive_plugin_6w.h.

callback_queue_thread_

boost::thread gazebo::DiffDrivePlugin6W::callback_queue_thread_

private

Definition at line 106 of file diffdrive_plugin_6w.h.

enableMotors

bool gazebo::DiffDrivePlugin6W::enableMotors

private

Definition at line 86 of file diffdrive_plugin_6w.h.

joints

physics::JointPtr gazebo::DiffDrivePlugin6W::joints[6]

private

Definition at line 76 of file diffdrive_plugin_6w.h.

link

physics::LinkPtr gazebo::DiffDrivePlugin6W::link

private

Definition at line 74 of file diffdrive_plugin_6w.h.

link_name_

std::string gazebo::DiffDrivePlugin6W::link_name_

private

Definition at line 102 of file diffdrive_plugin_6w.h.

lock

boost::mutex gazebo::DiffDrivePlugin6W::lock

private

Definition at line 98 of file diffdrive_plugin_6w.h.

namespace_

std::string gazebo::DiffDrivePlugin6W::namespace_

private

Definition at line 100 of file diffdrive_plugin_6w.h.

odom_

nav_msgs::Odometry gazebo::DiffDrivePlugin6W::odom_

private

Definition at line 95 of file diffdrive_plugin_6w.h.

odomPose

float gazebo::DiffDrivePlugin6W::odomPose[3]

private

Definition at line 87 of file diffdrive_plugin_6w.h.

odomVel

float gazebo::DiffDrivePlugin6W::odomVel[3]

private

Definition at line 88 of file diffdrive_plugin_6w.h.

prevUpdateTime

common::Time gazebo::DiffDrivePlugin6W::prevUpdateTime

private

Definition at line 84 of file diffdrive_plugin_6w.h.

pub_

ros::Publisher gazebo::DiffDrivePlugin6W::pub_

private

Definition at line 92 of file diffdrive_plugin_6w.h.

queue_

ros::CallbackQueue gazebo::DiffDrivePlugin6W::queue_

private

Definition at line 105 of file diffdrive_plugin_6w.h.

rosnode_

ros::NodeHandle* gazebo::DiffDrivePlugin6W::rosnode_

private

Definition at line 91 of file diffdrive_plugin_6w.h.

rot_

float gazebo::DiffDrivePlugin6W::rot_

private

Definition at line 113 of file diffdrive_plugin_6w.h.

sub_

ros::Subscriber gazebo::DiffDrivePlugin6W::sub_

private

Definition at line 93 of file diffdrive_plugin_6w.h.

tf_prefix_

std::string gazebo::DiffDrivePlugin6W::tf_prefix_

private

Definition at line 96 of file diffdrive_plugin_6w.h.

topic_

std::string gazebo::DiffDrivePlugin6W::topic_

private

Definition at line 101 of file diffdrive_plugin_6w.h.

torque

float gazebo::DiffDrivePlugin6W::torque

private

Definition at line 80 of file diffdrive_plugin_6w.h.

transform_broadcaster_

tf::TransformBroadcaster* gazebo::DiffDrivePlugin6W::transform_broadcaster_

private

Definition at line 94 of file diffdrive_plugin_6w.h.

updateConnection

event::ConnectionPtr gazebo::DiffDrivePlugin6W::updateConnection

private

Definition at line 117 of file diffdrive_plugin_6w.h.

wheelDiam

float gazebo::DiffDrivePlugin6W::wheelDiam

private

Definition at line 79 of file diffdrive_plugin_6w.h.

wheelSep

float gazebo::DiffDrivePlugin6W::wheelSep

private

Definition at line 78 of file diffdrive_plugin_6w.h.

wheelSpeed

float gazebo::DiffDrivePlugin6W::wheelSpeed[2]

private

Definition at line 81 of file diffdrive_plugin_6w.h.

world

physics::WorldPtr gazebo::DiffDrivePlugin6W::world

private

Definition at line 75 of file diffdrive_plugin_6w.h.

x_

float gazebo::DiffDrivePlugin6W::x_

private

Definition at line 112 of file diffdrive_plugin_6w.h.

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

• diffdrive_plugin_6w.h
• diffdrive_plugin_6w.cpp