#include <gazebo_ros_triggered_camera.h>

Inheritance diagram for gazebo::GazeboRosTriggeredCamera:

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

void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin. More...

void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix, double _hack_baseline)
	Load the plugin. More...

void	SetCameraEnabled (const bool _enabled)

	~GazeboRosTriggeredCamera ()
	Destructor. More...

Protected Member Functions
virtual bool	CanTriggerCamera ()

virtual void	OnNewFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Update the controller. More...

void	PreRender ()

virtual void	TriggerCamera ()

Protected Attributes
std::mutex	mutex

event::ConnectionPtr	preRenderConnection_

int	triggered = 0

Friends
class	GazeboRosTriggeredMultiCamera

Additional Inherited Members
Private Member Functions inherited from gazebo::GazeboRosCameraUtils
	GazeboRosCameraUtils ()
	Constructor. More...

void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix, double _hack_baseline)
	Load the plugin. More...

void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix="")
	Load the plugin. More...

event::ConnectionPtr	OnLoad (const boost::function< void()> &)

	~GazeboRosCameraUtils ()
	Destructor. More...

void	CameraQueueThread ()

void	ImageConnect ()

void	ImageDisconnect ()

void	PublishCameraInfo ()

void	PublishCameraInfo (common::Time &last_update_time)

void	PublishCameraInfo (ros::Publisher camera_info_publisher)
	Publish CameraInfo to the ROS topic. More...

void	PutCameraData (const unsigned char *_src)
	Put camera data to the ROS topic. More...

void	PutCameraData (const unsigned char *_src, common::Time &last_update_time)

Private Attributes inherited from gazebo::GazeboRosCameraUtils
bool	auto_distortion_

bool	border_crop_

boost::thread	callback_queue_thread_

rendering::CameraPtr	camera_

boost::shared_ptr< camera_info_manager::CameraInfoManager >	camera_info_manager_

ros::Publisher	camera_info_pub_
	camera info More...

std::string	camera_info_topic_name_

ros::CallbackQueue	camera_queue_

double	cx_

double	cx_prime_

double	cy_

unsigned int	depth_

double	distortion_k1_

double	distortion_k2_

double	distortion_k3_

double	distortion_t1_

double	distortion_t2_

double	focal_length_

std::string	format_

std::string	frame_name_
	ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached. More...

double	hack_baseline_

unsigned int	height_

boost::shared_ptr< int >	image_connect_count_
	Keep track of number of image connections. More...

boost::shared_ptr< boost::mutex >	image_connect_count_lock_
	A mutex to lock access to image_connect_count_. More...

sensor_msgs::Image	image_msg_
	ROS image message. More...

image_transport::Publisher	image_pub_

std::string	image_topic_name_
	ROS image topic name. More...

bool	initialized_
	True if camera util is initialized. More...

common::Time	last_info_update_time_

common::Time	last_update_time_

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

sensors::SensorPtr	parentSensor_

ros::NodeHandle *	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist. More...

common::Time	sensor_update_time_

int	skip_

std::string	trigger_topic_name_
	ROS trigger topic name. More...

std::string	type_
	size of image buffer More...

double	update_period_

double	update_rate_
	update rate of this sensor More...

boost::shared_ptr< bool >	was_active_
	Keep track when we activate this camera through ros subscription, was it already active? resume state when unsubscribed. More...

unsigned int	width_

physics::WorldPtr	world

physics::WorldPtr	world_

Detailed Description

Definition at line 32 of file gazebo_ros_triggered_camera.h.

Constructor & Destructor Documentation

◆ GazeboRosTriggeredCamera()

gazebo::GazeboRosTriggeredCamera::GazeboRosTriggeredCamera ( )

Constructor.

Parameters

parent The parent entity, must be a Model or a Sensor

Definition at line 39 of file gazebo_ros_triggered_camera.cpp.

◆ ~GazeboRosTriggeredCamera()

gazebo::GazeboRosTriggeredCamera::~GazeboRosTriggeredCamera ( )

Destructor.

Definition at line 45 of file gazebo_ros_triggered_camera.cpp.

Member Function Documentation

◆ CanTriggerCamera()

bool gazebo::GazeboRosTriggeredCamera::CanTriggerCamera ( )

protectedvirtual

Reimplemented from gazebo::GazeboRosCameraUtils.

Definition at line 135 of file gazebo_ros_triggered_camera.cpp.

◆ Load() [1/2]

void gazebo::GazeboRosTriggeredCamera::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Load the plugin.

Parameters

take	in SDF root element

Definition at line 50 of file gazebo_ros_triggered_camera.cpp.

◆ Load() [2/2]

void gazebo::GazeboRosTriggeredCamera::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf,
		const std::string &	_camera_name_suffix,
		double	_hack_baseline
	)

Load the plugin.

Parameters

[in]	_parent	Take in SDF root element.
[in]	_sdf	SDF values.
[in]	_camera_name_suffix	Suffix of the camera name.
[in]	_hack_baseline	Multiple camera baseline.

Definition at line 77 of file gazebo_ros_triggered_camera.cpp.

◆ OnNewFrame()

void gazebo::GazeboRosTriggeredCamera::OnNewFrame	(	const unsigned char *	_image,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth,
		const std::string &	_format
	)