This plugin publishes the motor speeds of your multirotor model. More...

#include <gazebo_multirotor_base_plugin.h>

Inheritance diagram for gazebo::GazeboMultirotorBasePlugin:

Public Member Functions
	GazeboMultirotorBasePlugin ()

virtual	~GazeboMultirotorBasePlugin ()

Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Load the plugin. More...

void	OnUpdate (const common::UpdateInfo &)
	Called when the world is updated. More...

Private Types
typedef std::map< const unsigned int, const physics::JointPtr >	MotorNumberToJointMap

typedef std::pair< const unsigned int, const physics::JointPtr >	MotorNumberToJointPair

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

Private Attributes
gz_sensor_msgs::Actuators	actuators_msg_

std::string	actuators_pub_topic_

physics::Link_V	child_links_

std::string	frame_id_

gz_sensor_msgs::JointState	joint_state_msg_

gazebo::transport::PublisherPtr	joint_state_pub_

std::string	joint_state_pub_topic_

physics::LinkPtr	link_

std::string	link_name_

physics::ModelPtr	model_

MotorNumberToJointMap	motor_joints_

gazebo::transport::PublisherPtr	motor_pub_

std::string	namespace_

gazebo::transport::NodePtr	node_handle_

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...

double	rotor_velocity_slowdown_sim_

event::ConnectionPtr	update_connection_
	Pointer to the update event connection. More...

physics::WorldPtr	world_

Detailed Description

This plugin publishes the motor speeds of your multirotor model.

Definition at line 48 of file gazebo_multirotor_base_plugin.h.

Member Typedef Documentation

◆ MotorNumberToJointMap

typedef std::map<const unsigned int, const physics::JointPtr> gazebo::GazeboMultirotorBasePlugin::MotorNumberToJointMap

private

Definition at line 49 of file gazebo_multirotor_base_plugin.h.

◆ MotorNumberToJointPair

typedef std::pair<const unsigned int, const physics::JointPtr> gazebo::GazeboMultirotorBasePlugin::MotorNumberToJointPair

private

Definition at line 50 of file gazebo_multirotor_base_plugin.h.

Constructor & Destructor Documentation

◆ GazeboMultirotorBasePlugin()

gazebo::GazeboMultirotorBasePlugin::GazeboMultirotorBasePlugin ( )

inline

Definition at line 52 of file gazebo_multirotor_base_plugin.h.

◆ ~GazeboMultirotorBasePlugin()

gazebo::GazeboMultirotorBasePlugin::~GazeboMultirotorBasePlugin ( )

virtual

Definition at line 32 of file gazebo_multirotor_base_plugin.cpp.

Member Function Documentation

◆ CreatePubsAndSubs()

void gazebo::GazeboMultirotorBasePlugin::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 130 of file gazebo_multirotor_base_plugin.cpp.