Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
gazebo::GazeboRosDiffdrive Class Reference

#include <gazebo_ros_diffdrive_uos.h>

List of all members.

Public Member Functions

 GazeboRosDiffdrive ()
virtual void Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
virtual void UpdateChild ()
virtual ~GazeboRosDiffdrive ()

Private Member Functions

void OnCmdVel (const geometry_msgs::TwistConstPtr &msg)
void spin ()

Private Attributes

ros::Subscriber cmd_vel_sub_
std::string cmd_vel_topic_name_
ros::Publisher joint_state_pub_
std::string joint_states_topic_name_
physics::JointPtr joints_ [NUM_JOINTS]
sensor_msgs::JointState js_
common::Time last_cmd_vel_time_
float max_velocity_
 maximum linear speed of the robot [m/s]
physics::ModelPtr my_parent_
physics::WorldPtr my_world_
std::string node_namespace_
float odom_pose_ [3]
ros::Publisher odom_pub_
std::string odom_topic_name_
float odom_vel_ [3]
common::Time prev_update_time_
ros::NodeHandle * rosnode_
boost::thread * spinner_thread_
float torque_
 maximum torque applied to the wheels [Nm]
float turning_adaptation_
 Turning adaptation for odometry.
event::ConnectionPtr updateConnection
float wheel_diam_
 Diameter of the wheels.
float wheel_sep_
 Separation between the wheels.
float wheel_speed_left_
float wheel_speed_right_
 Desired speeds of the wheels.

Static Private Attributes

static const double CMD_VEL_TIMEOUT = 0.6
static const size_t NUM_JOINTS = 6

Detailed Description

Definition at line 17 of file gazebo_ros_diffdrive_uos.h.


Constructor & Destructor Documentation

Definition at line 17 of file gazebo_ros_diffdrive_uos.cpp.

Definition at line 29 of file gazebo_ros_diffdrive_uos.cpp.


Member Function Documentation

void GazeboRosDiffdrive::Load ( physics::ModelPtr  _parent,
sdf::ElementPtr  _sdf 
) [virtual]

Definition at line 37 of file gazebo_ros_diffdrive_uos.cpp.

void GazeboRosDiffdrive::OnCmdVel ( const geometry_msgs::TwistConstPtr &  msg) [private]

Definition at line 280 of file gazebo_ros_diffdrive_uos.cpp.

void GazeboRosDiffdrive::spin ( ) [private]

Definition at line 297 of file gazebo_ros_diffdrive_uos.cpp.

void GazeboRosDiffdrive::UpdateChild ( ) [virtual]

Definition at line 163 of file gazebo_ros_diffdrive_uos.cpp.


Member Data Documentation

ros::Subscriber gazebo::GazeboRosDiffdrive::cmd_vel_sub_ [private]

Definition at line 37 of file gazebo_ros_diffdrive_uos.h.

const double gazebo::GazeboRosDiffdrive::CMD_VEL_TIMEOUT = 0.6 [static, private]

Definition at line 28 of file gazebo_ros_diffdrive_uos.h.

Definition at line 41 of file gazebo_ros_diffdrive_uos.h.

Definition at line 35 of file gazebo_ros_diffdrive_uos.h.

Definition at line 43 of file gazebo_ros_diffdrive_uos.h.

physics::JointPtr gazebo::GazeboRosDiffdrive::joints_[NUM_JOINTS] [private]

Definition at line 67 of file gazebo_ros_diffdrive_uos.h.

sensor_msgs::JointState gazebo::GazeboRosDiffdrive::js_ [private]

Definition at line 81 of file gazebo_ros_diffdrive_uos.h.

Definition at line 73 of file gazebo_ros_diffdrive_uos.h.

maximum linear speed of the robot [m/s]

Definition at line 58 of file gazebo_ros_diffdrive_uos.h.

physics::ModelPtr gazebo::GazeboRosDiffdrive::my_parent_ [private]

Definition at line 61 of file gazebo_ros_diffdrive_uos.h.

physics::WorldPtr gazebo::GazeboRosDiffdrive::my_world_ [private]

Definition at line 60 of file gazebo_ros_diffdrive_uos.h.

Definition at line 39 of file gazebo_ros_diffdrive_uos.h.

const size_t gazebo::GazeboRosDiffdrive::NUM_JOINTS = 6 [static, private]

Definition at line 27 of file gazebo_ros_diffdrive_uos.h.

Definition at line 78 of file gazebo_ros_diffdrive_uos.h.

ros::Publisher gazebo::GazeboRosDiffdrive::odom_pub_ [private]

Definition at line 34 of file gazebo_ros_diffdrive_uos.h.

Definition at line 42 of file gazebo_ros_diffdrive_uos.h.

Definition at line 79 of file gazebo_ros_diffdrive_uos.h.

Definition at line 70 of file gazebo_ros_diffdrive_uos.h.

ros::NodeHandle* gazebo::GazeboRosDiffdrive::rosnode_ [private]

Definition at line 32 of file gazebo_ros_diffdrive_uos.h.

Definition at line 84 of file gazebo_ros_diffdrive_uos.h.

maximum torque applied to the wheels [Nm]

Definition at line 55 of file gazebo_ros_diffdrive_uos.h.

Turning adaptation for odometry.

Definition at line 52 of file gazebo_ros_diffdrive_uos.h.

event::ConnectionPtr gazebo::GazeboRosDiffdrive::updateConnection [private]

Definition at line 76 of file gazebo_ros_diffdrive_uos.h.

Diameter of the wheels.

Definition at line 49 of file gazebo_ros_diffdrive_uos.h.

Separation between the wheels.

Definition at line 46 of file gazebo_ros_diffdrive_uos.h.

Definition at line 65 of file gazebo_ros_diffdrive_uos.h.

Desired speeds of the wheels.

Definition at line 64 of file gazebo_ros_diffdrive_uos.h.


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


diffdrive_gazebo_plugin
Author(s): Martin Günther
autogenerated on Sun Oct 5 2014 23:28:33