#include <gazebo_ros_imu.h>

Inheritance diagram for gazebo::GazeboRosIMU:

Public Member Functions
	GazeboRosIMU ()
	Constructor. More...

void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Load the controller. More...

virtual	~GazeboRosIMU ()
	Destructor. More...

Protected Member Functions
virtual void	UpdateChild ()
	Update the controller. More...

Private Member Functions
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator. More...

void	IMUQueueThread ()

void	LoadThread ()

bool	ServiceCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	call back when using service More...

Private Attributes
ignition::math::Vector3d	aeul_

ignition::math::Vector3d	apos_

boost::thread	callback_queue_thread_

boost::thread	deferred_load_thread_

std::string	frame_name_
	store frame name More...

double	gaussian_noise_
	Gaussian noise. More...

sensor_msgs::Imu	imu_msg_
	ros message More...

ros::CallbackQueue	imu_queue_

ignition::math::Pose3d	initial_pose_
	: keep initial pose to offset orientation in imu message More...

common::Time	last_time_
	save last_time More...

ignition::math::Vector3d	last_veul_

ignition::math::Vector3d	last_vpos_

physics::LinkPtr	link
	The link referred to by this plugin. More...

std::string	link_name_
	store link name More...

boost::mutex	lock_
	A mutex to lock access to fields that are used in message callbacks. More...

ignition::math::Pose3d	offset_
	allow specifying constant xyz and rpy offsets More...

PubMultiQueue	pmq

ros::Publisher	pub_

PubQueue< sensor_msgs::Imu >::Ptr	pub_Queue

std::string	robot_namespace_
	for setting ROS name space More...

ros::NodeHandle *	rosnode_
	pointer to ros node More...

sdf::ElementPtr	sdf

std::string	service_name_

ros::ServiceServer	srv_

std::string	topic_name_
	topic name More...

event::ConnectionPtr	update_connection_

double	update_rate_

physics::WorldPtr	world_
	The parent World. More...

Detailed Description

Definition at line 39 of file gazebo_ros_imu.h.

Constructor & Destructor Documentation

◆ GazeboRosIMU()

gazebo::GazeboRosIMU::GazeboRosIMU ( )

Constructor.

Definition at line 36 of file gazebo_ros_imu.cpp.

◆ ~GazeboRosIMU()

gazebo::GazeboRosIMU::~GazeboRosIMU ( )

virtual

Destructor.

Definition at line 42 of file gazebo_ros_imu.cpp.

Member Function Documentation

◆ GaussianKernel()

double gazebo::GazeboRosIMU::GaussianKernel	(	double	mu,
		double	sigma
	)

private

Gaussian noise generator.

Definition at line 352 of file gazebo_ros_imu.cpp.

◆ IMUQueueThread()

void gazebo::GazeboRosIMU::IMUQueueThread ( )

private

Definition at line 374 of file gazebo_ros_imu.cpp.

◆ Load()

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

Load the controller.

Parameters

node	XML config node

Definition at line 53 of file gazebo_ros_imu.cpp.

◆ LoadThread()

void gazebo::GazeboRosIMU::LoadThread ( )

private

Definition at line 66 of file gazebo_ros_imu.cpp.

◆ ServiceCallback()

bool gazebo::GazeboRosIMU::ServiceCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

private

call back when using service

Definition at line 212 of file gazebo_ros_imu.cpp.

◆ UpdateChild()

void gazebo::GazeboRosIMU::UpdateChild ( )

protectedvirtual

Update the controller.

Todo:: : let user set separate linear and angular covariance values.

Todo:: : apply appropriate rotations from frame_pose

Definition at line 220 of file gazebo_ros_imu.cpp.

Member Data Documentation

◆ aeul_

ignition::math::Vector3d gazebo::GazeboRosIMU::aeul_

private

Definition at line 89 of file gazebo_ros_imu.h.

◆ apos_

ignition::math::Vector3d gazebo::GazeboRosIMU::apos_

private

Definition at line 88 of file gazebo_ros_imu.h.

◆ callback_queue_thread_

boost::thread gazebo::GazeboRosIMU::callback_queue_thread_

private

Definition at line 115 of file gazebo_ros_imu.h.

◆ deferred_load_thread_

boost::thread gazebo::GazeboRosIMU::deferred_load_thread_

private

Definition at line 123 of file gazebo_ros_imu.h.

◆ frame_name_

std::string gazebo::GazeboRosIMU::frame_name_

private

store frame name

Definition at line 72 of file gazebo_ros_imu.h.

◆ gaussian_noise_

double gazebo::GazeboRosIMU::gaussian_noise_

private

Gaussian noise.

Definition at line 98 of file gazebo_ros_imu.h.

◆ imu_msg_

sensor_msgs::Imu gazebo::GazeboRosIMU::imu_msg_

private

ros message

Definition at line 66 of file gazebo_ros_imu.h.

◆ imu_queue_

ros::CallbackQueue gazebo::GazeboRosIMU::imu_queue_

private

Definition at line 113 of file gazebo_ros_imu.h.

◆ initial_pose_

ignition::math::Pose3d gazebo::GazeboRosIMU::initial_pose_

private

: keep initial pose to offset orientation in imu message

Definition at line 95 of file gazebo_ros_imu.h.

◆ last_time_

common::Time gazebo::GazeboRosIMU::last_time_

private

save last_time

Definition at line 85 of file gazebo_ros_imu.h.

◆ last_veul_

ignition::math::Vector3d gazebo::GazeboRosIMU::last_veul_

private

Definition at line 87 of file gazebo_ros_imu.h.

◆ last_vpos_

ignition::math::Vector3d gazebo::GazeboRosIMU::last_vpos_

private

Definition at line 86 of file gazebo_ros_imu.h.

◆ link

physics::LinkPtr gazebo::GazeboRosIMU::link

private

The link referred to by this plugin.

Definition at line 58 of file gazebo_ros_imu.h.

◆ link_name_

std::string gazebo::GazeboRosIMU::link_name_

private

store link name

Definition at line 69 of file gazebo_ros_imu.h.

◆ lock_

boost::mutex gazebo::GazeboRosIMU::lock_

private

A mutex to lock access to fields that are used in message callbacks.

Definition at line 82 of file gazebo_ros_imu.h.

◆ offset_

ignition::math::Pose3d gazebo::GazeboRosIMU::offset_

private

allow specifying constant xyz and rpy offsets

Definition at line 78 of file gazebo_ros_imu.h.

◆ pmq

PubMultiQueue gazebo::GazeboRosIMU::pmq

private

Definition at line 126 of file gazebo_ros_imu.h.

◆ pub_

ros::Publisher gazebo::GazeboRosIMU::pub_

private

Definition at line 62 of file gazebo_ros_imu.h.

◆ pub_Queue

PubQueue<sensor_msgs::Imu>::Ptr gazebo::GazeboRosIMU::pub_Queue

private

Definition at line 63 of file gazebo_ros_imu.h.

◆ robot_namespace_

std::string gazebo::GazeboRosIMU::robot_namespace_

private

for setting ROS name space

Definition at line 104 of file gazebo_ros_imu.h.

◆ rosnode_

ros::NodeHandle* gazebo::GazeboRosIMU::rosnode_

private

pointer to ros node

Definition at line 61 of file gazebo_ros_imu.h.

◆ sdf

sdf::ElementPtr gazebo::GazeboRosIMU::sdf

private

Definition at line 121 of file gazebo_ros_imu.h.

◆ service_name_

std::string gazebo::GazeboRosIMU::service_name_

private

Definition at line 111 of file gazebo_ros_imu.h.

◆ srv_

ros::ServiceServer gazebo::GazeboRosIMU::srv_

private

Definition at line 110 of file gazebo_ros_imu.h.

◆ topic_name_

std::string gazebo::GazeboRosIMU::topic_name_

private

topic name

Definition at line 75 of file gazebo_ros_imu.h.

◆ update_connection_

event::ConnectionPtr gazebo::GazeboRosIMU::update_connection_

private

Definition at line 118 of file gazebo_ros_imu.h.

◆ update_rate_

double gazebo::GazeboRosIMU::update_rate_

private

Definition at line 92 of file gazebo_ros_imu.h.

◆ world_

physics::WorldPtr gazebo::GazeboRosIMU::world_

private

The parent World.

Definition at line 55 of file gazebo_ros_imu.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GazeboRosIMU()

◆ ~GazeboRosIMU()

Member Function Documentation

◆ GaussianKernel()

◆ IMUQueueThread()

◆ Load()

◆ LoadThread()

◆ ServiceCallback()

◆ UpdateChild()

Member Data Documentation

◆ aeul_

◆ apos_

◆ callback_queue_thread_

◆ deferred_load_thread_

◆ frame_name_

◆ gaussian_noise_

◆ imu_msg_

◆ imu_queue_

◆ initial_pose_

◆ last_time_

◆ last_veul_

◆ last_vpos_

◆ link

◆ link_name_

◆ lock_

◆ offset_

◆ pmq

◆ pub_

◆ pub_Queue

◆ robot_namespace_

◆ rosnode_

◆ sdf

◆ service_name_

◆ srv_

◆ topic_name_

◆ update_connection_

◆ update_rate_

◆ world_