Public Member Functions
std::map< std::string, ignition::gazebo::Entity >	GetEnabledJoints (const ignition::gazebo::Entity &_entity, ignition::gazebo::EntityComponentManager &_ecm) const
	Get a list of enabled, unique, 1-axis joints of the model. If no joint names are specified in the plugin configuration, all valid 1-axis joints are returned. More...

std::string	getURDF (std::string param_name) const
	Get the URDF XML from the parameter server. More...

	IgnitionROSControlPluginPrivate (const std::string &robot_namespace, const std::string &robot_description)

bool	parseTransmissionsFromURDF (const std::string &urdf_string)

	~IgnitionROSControlPluginPrivate ()

Public Attributes
std::shared_ptr< ros::AsyncSpinner >	async_ros_spin_
	ROS comm. More...

ros::Duration	control_period_ = ros::Duration(1, 0)
	Timing. More...

std::shared_ptr< controller_manager::ControllerManager >	controller_manager_ {nullptr}
	Controller manager. More...

ignition::gazebo::EntityComponentManager *	ecm_ {nullptr}
	ECM pointer. More...

ignition::gazebo::Entity	entity_
	Entity ID for sensor within Gazebo. More...

ros::Time	last_update_sim_time_ros_
	Last time the update method was called. More...

ros::NodeHandle	model_nh_

std::string	robot_description_ = "robot_description"
	Robot description. More...

boost::shared_ptr< ign_ros_control::IgnitionSystemInterface >	robot_hw_ {nullptr}
	Robot hardware. More...

std::shared_ptr< pluginlib::ClassLoader< ign_ros_control::IgnitionSystemInterface > >	robot_hw_sim_loader_ {nullptr}
	Interface loader. More...

std::vector< transmission_interface::TransmissionInfo >	transmissions_

Detailed Description

Definition at line 46 of file ign_ros_control_plugin.cpp.

Constructor & Destructor Documentation

◆ IgnitionROSControlPluginPrivate()

ign_ros_control::IgnitionROSControlPluginPrivate::IgnitionROSControlPluginPrivate	(	const std::string &	robot_namespace,
		const std::string &	robot_description
	)

inline

Definition at line 50 of file ign_ros_control_plugin.cpp.

◆ ~IgnitionROSControlPluginPrivate()

ign_ros_control::IgnitionROSControlPluginPrivate::~IgnitionROSControlPluginPrivate ( )

inline

Definition at line 60 of file ign_ros_control_plugin.cpp.

Member Function Documentation

◆ GetEnabledJoints()

std::map< std::string, ignition::gazebo::Entity > ign_ros_control::IgnitionROSControlPluginPrivate::GetEnabledJoints	(	const ignition::gazebo::Entity &	_entity,
		ignition::gazebo::EntityComponentManager &	_ecm
	)		const

Get a list of enabled, unique, 1-axis joints of the model. If no joint names are specified in the plugin configuration, all valid 1-axis joints are returned.

Parameters

[in]	_entity	Entity of the model that the plugin is being configured for
[in]	_ecm	Ignition Entity Component Manager

Returns: List of entities containing all enabled joints

Definition at line 121 of file ign_ros_control_plugin.cpp.

◆ getURDF()

std::string ign_ros_control::IgnitionROSControlPluginPrivate::getURDF ( std::string param_name ) const

Get the URDF XML from the parameter server.

Definition at line 182 of file ign_ros_control_plugin.cpp.

◆ parseTransmissionsFromURDF()

bool ign_ros_control::IgnitionROSControlPluginPrivate::parseTransmissionsFromURDF ( const std::string & urdf_string )

Definition at line 213 of file ign_ros_control_plugin.cpp.

Member Data Documentation

◆ async_ros_spin_

std::shared_ptr<ros::AsyncSpinner> ign_ros_control::IgnitionROSControlPluginPrivate::async_ros_spin_

ROS comm.

Definition at line 116 of file ign_ros_control_plugin.cpp.

◆ control_period_

ros::Duration ign_ros_control::IgnitionROSControlPluginPrivate::control_period_ = ros::Duration(1, 0)

Timing.

Definition at line 88 of file ign_ros_control_plugin.cpp.

◆ controller_manager_

std::shared_ptr<controller_manager::ControllerManager> ign_ros_control::IgnitionROSControlPluginPrivate::controller_manager_ {nullptr}

Controller manager.

Definition at line 97 of file ign_ros_control_plugin.cpp.

◆ ecm_

ignition::gazebo::EntityComponentManager* ign_ros_control::IgnitionROSControlPluginPrivate::ecm_ {nullptr}

ECM pointer.

Definition at line 107 of file ign_ros_control_plugin.cpp.

◆ entity_

ignition::gazebo::Entity ign_ros_control::IgnitionROSControlPluginPrivate::entity_

Entity ID for sensor within Gazebo.

Definition at line 85 of file ign_ros_control_plugin.cpp.

◆ last_update_sim_time_ros_

ros::Time ign_ros_control::IgnitionROSControlPluginPrivate::last_update_sim_time_ros_

Last time the update method was called.

Definition at line 104 of file ign_ros_control_plugin.cpp.

◆ model_nh_

ros::NodeHandle ign_ros_control::IgnitionROSControlPluginPrivate::model_nh_

Definition at line 110 of file ign_ros_control_plugin.cpp.

◆ robot_description_

std::string ign_ros_control::IgnitionROSControlPluginPrivate::robot_description_ = "robot_description"

Robot description.

Definition at line 113 of file ign_ros_control_plugin.cpp.

◆ robot_hw_

boost::shared_ptr<ign_ros_control::IgnitionSystemInterface> ign_ros_control::IgnitionROSControlPluginPrivate::robot_hw_ {nullptr}

Robot hardware.

Definition at line 101 of file ign_ros_control_plugin.cpp.

◆ robot_hw_sim_loader_

std::shared_ptr<pluginlib::ClassLoader< ign_ros_control::IgnitionSystemInterface> > ign_ros_control::IgnitionROSControlPluginPrivate::robot_hw_sim_loader_ {nullptr}

Interface loader.

Definition at line 93 of file ign_ros_control_plugin.cpp.

◆ transmissions_

std::vector<transmission_interface::TransmissionInfo> ign_ros_control::IgnitionROSControlPluginPrivate::transmissions_

Definition at line 82 of file ign_ros_control_plugin.cpp.

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

ign_ros_control_plugin.cpp

Public Member Functions

Public Attributes