#include <gazebo_magnetometer_plugin.h>

Inheritance diagram for gazebo::GazeboMagnetometerPlugin:

Public Types
typedef std::normal_distribution	NormalDistribution

typedef std::uniform_real_distribution	UniformDistribution

Public Member Functions
	GazeboMagnetometerPlugin ()

virtual	~GazeboMagnetometerPlugin ()

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

void	OnUpdate (const common::UpdateInfo &)

Private Member Functions
void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required. More...

Private Attributes
std::string	frame_id_

physics::LinkPtr	link_
	Pointer to the link. More...

gz_sensor_msgs::MagneticField	mag_message_
	Magnetic field message. More...

ignition::math::Vector3d	mag_W_

gazebo::transport::PublisherPtr	magnetometer_pub_

std::string	magnetometer_topic_

physics::ModelPtr	model_
	Pointer to the model. More...

std::string	namespace_

gazebo::transport::NodePtr	node_handle_

NormalDistribution	noise_n_ [3]

bool	pubs_and_subs_created_
	Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate(). More...

std::random_device	random_device_

std::mt19937	random_generator_

event::ConnectionPtr	updateConnection_

physics::WorldPtr	world_
	Pointer to the world. More...

Detailed Description

Definition at line 41 of file gazebo_magnetometer_plugin.h.

Member Typedef Documentation

◆ NormalDistribution

typedef std::normal_distribution gazebo::GazeboMagnetometerPlugin::NormalDistribution

Definition at line 44 of file gazebo_magnetometer_plugin.h.

◆ UniformDistribution

typedef std::uniform_real_distribution gazebo::GazeboMagnetometerPlugin::UniformDistribution

Definition at line 45 of file gazebo_magnetometer_plugin.h.

Constructor & Destructor Documentation

◆ GazeboMagnetometerPlugin()

gazebo::GazeboMagnetometerPlugin::GazeboMagnetometerPlugin ( )

Definition at line 26 of file gazebo_magnetometer_plugin.cpp.

◆ ~GazeboMagnetometerPlugin()

gazebo::GazeboMagnetometerPlugin::~GazeboMagnetometerPlugin ( )

virtual

Definition at line 33 of file gazebo_magnetometer_plugin.cpp.

Member Function Documentation

◆ CreatePubsAndSubs()

void gazebo::GazeboMagnetometerPlugin::CreatePubsAndSubs ( )

private

Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.

Call this once the first time OnUpdate() is called (can't be called from Load() because there is no guarantee GazeboRosInterfacePlugin has has loaded and listening to ConnectGazeboToRosTopic and ConnectRosToGazeboTopic messages).

Definition at line 178 of file gazebo_magnetometer_plugin.cpp.