gazebo::GazeboRosHarness Class Reference

See the Gazebo documentation about the HarnessPlugin. This ROS wrapper exposes two topics: More...

#include <gazebo_ros_harness.h>

Inheritance diagram for gazebo::GazeboRosHarness:

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

Private Member Functions
virtual void	OnDetach (const std_msgs::Bool::ConstPtr &msg)
	Receive detach messages. More...
virtual void	OnVelocity (const std_msgs::Float32::ConstPtr &msg)
	Receive winch velocity control messages. More...
void	QueueThread ()
	Custom callback queue thread. More...

Private Attributes
boost::thread	callbackQueueThread_
ros::Subscriber	detachSub_
	Subscriber to detach control messages. More...
ros::CallbackQueue	queue_
std::string	robotNamespace_
	for setting ROS name space More...
ros::NodeHandle *	rosnode_
	pointer to ros node More...
ros::Subscriber	velocitySub_
	Subscriber to velocity control messages. More...

Detailed Description

See the Gazebo documentation about the HarnessPlugin. This ROS wrapper exposes two topics:

1. /<plugin_model_name>/harness/velocity
   • Message Type: std_msgs::Float32
   • Purpose: Set target winch velocity
2. /<plugin_model_name>/harness/detach
   • Message Type: std_msgs::Bool
   • Purpose: Detach the <detach> joint.

Definition at line 42 of file gazebo_ros_harness.h.

Constructor & Destructor Documentation

GazeboRosHarness()

gazebo::GazeboRosHarness::GazeboRosHarness

(

)

Constructor.

Definition at line 33 of file gazebo_ros_harness.cpp.

~GazeboRosHarness()

gazebo::GazeboRosHarness::~GazeboRosHarness ( )

virtual

Destructor.

Definition at line 38 of file gazebo_ros_harness.cpp.

Member Function Documentation

Load()

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

virtual

Load the plugin.

Definition at line 50 of file gazebo_ros_harness.cpp.

OnDetach()

void gazebo::GazeboRosHarness::OnDetach ( const std_msgs::Bool::ConstPtr &  msg )

privatevirtual

Receive detach messages.

Parameters

[in]

msg

Boolean detach message. Detach joints if data is true.

Definition at line 102 of file gazebo_ros_harness.cpp.

OnVelocity()

void gazebo::GazeboRosHarness::OnVelocity ( const std_msgs::Float32::ConstPtr &  msg )

privatevirtual

Receive winch velocity control messages.

Parameters

[in]

msg

Float message that is the target winch velocity.

Definition at line 88 of file gazebo_ros_harness.cpp.

QueueThread()

void gazebo::GazeboRosHarness::QueueThread ( )

private

Custom callback queue thread.

Definition at line 110 of file gazebo_ros_harness.cpp.

Member Data Documentation

callbackQueueThread_

boost::thread gazebo::GazeboRosHarness::callbackQueueThread_

private

Definition at line 77 of file gazebo_ros_harness.h.

detachSub_

ros::Subscriber gazebo::GazeboRosHarness::detachSub_

private

Subscriber to detach control messages.

Definition at line 72 of file gazebo_ros_harness.h.

queue_

ros::CallbackQueue gazebo::GazeboRosHarness::queue_

private

Definition at line 76 of file gazebo_ros_harness.h.

robotNamespace_

std::string gazebo::GazeboRosHarness::robotNamespace_

private

for setting ROS name space

Definition at line 75 of file gazebo_ros_harness.h.

rosnode_

ros::NodeHandle* gazebo::GazeboRosHarness::rosnode_

private

pointer to ros node

Definition at line 66 of file gazebo_ros_harness.h.

velocitySub_

ros::Subscriber gazebo::GazeboRosHarness::velocitySub_

private

Subscriber to velocity control messages.

Definition at line 69 of file gazebo_ros_harness.h.

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

• gazebo_ros_harness.h
• gazebo_ros_harness.cpp