#include <gazebo_ros_kobuki.h>

Public Member Functions
	GazeboRosKobuki ()
	Constructor.
void	Load (physics::ModelPtr parent, sdf::ElementPtr sdf)
	Called when plugin is loaded.
void	OnUpdate ()
	Called by the world update start event.
	~GazeboRosKobuki ()
	Destructor.
Private Member Functions
void	cmdVelCB (const geometry_msgs::TwistConstPtr &msg)
	Callback for incoming velocity commands.
void	motorPowerCB (const kobuki_msgs::MotorPowerPtr &msg)
	Callback for incoming velocity commands.
void	spin ()
	Spin method for the spinner thread.
Private Attributes
sensors::ContactSensorPtr	bumper_
	Pointer to bumper sensor simulating Kobuki's left, centre and right bumper sensors.
kobuki_msgs::BumperEvent	bumper_event_
	Kobuki ROS message for bumper event.
kobuki_msgs::BumperEvent	bumper_event_old_
	Storage for last bumper sensor state state for checking if something has changed.
ros::Publisher	bumper_event_pub_
	ROS publisher for bumper events.
float	cliff_detection_threshold_
	measured distance in meter for detecting a cliff
kobuki_msgs::CliffEvent	cliff_event_
	Kobuki ROS message for cliff event.
kobuki_msgs::CliffEvent	cliff_event_old_
	Storage for last cliff sensor state state for checking if something has changed.
ros::Publisher	cliff_event_pub_
	ROS publisher for cliff detection events.
sensors::RaySensorPtr	cliff_sensor_front_
	Pointer to frontal cliff sensor.
sensors::RaySensorPtr	cliff_sensor_left_
	Pointer to left cliff sensor.
sensors::RaySensorPtr	cliff_sensor_right_
	Pointer to left right sensor.
ros::Subscriber	cmd_vel_sub_
	ROS subscriber for velocity commands.
float	cmd_vel_timeout_
	Time out for velocity commands in seconds.
sensor_msgs::JointState	joint_state_
	ROS message for joint sates.
ros::Publisher	joint_state_pub_
	ROS publisher for joint state messages.
physics::JointPtr	joints_ [2]
	Pointers to Gazebo's joints.
common::Time	last_cmd_vel_time_
	Simulation time of the last velocity command (used for time out)
std::string	left_wheel_joint_name_
	Left wheel's joint name.
int	max_floot_dist_
	Maximum distance to floor.
physics::ModelPtr	model_
	pointer to the model
ros::Subscriber	motor_power_sub_
	ROS subscriber for motor power commands.
bool	motors_enabled_
	Flag indicating if the motors are turned on or not.
ros::NodeHandle	nh_
	ROS node handles (relative & private)
ros::NodeHandle	nh_priv_
std::string	node_name_
	node name
nav_msgs::Odometry	odom_
	ROS message for odometry data.
float	odom_pose_ [3]
	Vector for pose.
ros::Publisher	odom_pub_
	ROS publisher for odometry messages.
geometry_msgs::TransformStamped	odom_tf_
	TF transform for the odom frame.
float	odom_vel_ [3]
	Vector for velocity.
double *	pose_cov_ [36]
	Pointer to covariance matrix.
common::Time	prev_update_time_
	Simulation time on previous update.
std::string	right_wheel_joint_name_
	Right wheel's joint name.
bool	shutdown_requested_
	extra thread for triggering ROS callbacks
tf::TransformBroadcaster	tf_broadcaster_
	TF transform publisher for the odom frame.
float	torque_
	Max. torque applied to the wheels.
event::ConnectionPtr	update_connection_
	pointer to the update event connection (triggers the OnUpdate callback when event update event is received)
float	wheel_diam_
	Diameter of the wheels.
float	wheel_sep_
	Separation between the wheels.
float	wheel_speed_cmd_ [2]
	Speeds of the wheels.
physics::WorldPtr	world_
	pointer to simulated world

Detailed Description

Definition at line 60 of file gazebo_ros_kobuki.h.

Constructor & Destructor Documentation

gazebo::GazeboRosKobuki::GazeboRosKobuki ( )

Constructor.

Definition at line 49 of file gazebo_ros_kobuki.cpp.

gazebo::GazeboRosKobuki::~GazeboRosKobuki ( )

Destructor.

Definition at line 74 of file gazebo_ros_kobuki.cpp.

Member Function Documentation

void gazebo::GazeboRosKobuki::cmdVelCB ( const geometry_msgs::TwistConstPtr & msg ) [private]

Callback for incoming velocity commands.

Definition at line 316 of file gazebo_ros_kobuki.cpp.

void gazebo::GazeboRosKobuki::Load	(	physics::ModelPtr	parent,
		sdf::ElementPtr	sdf
	)

Called when plugin is loaded.

Definition at line 85 of file gazebo_ros_kobuki.cpp.

void gazebo::GazeboRosKobuki::motorPowerCB ( const kobuki_msgs::MotorPowerPtr & msg ) [private]

Callback for incoming velocity commands.

Definition at line 302 of file gazebo_ros_kobuki.cpp.

void gazebo::GazeboRosKobuki::OnUpdate ( )

Called by the world update start event.

Definition at line 323 of file gazebo_ros_kobuki.cpp.

void gazebo::GazeboRosKobuki::spin ( ) [private]

Spin method for the spinner thread.

Definition at line 581 of file gazebo_ros_kobuki.cpp.

Member Data Documentation

sensors::ContactSensorPtr gazebo::GazeboRosKobuki::bumper_ [private]

Pointer to bumper sensor simulating Kobuki's left, centre and right bumper sensors.

Definition at line 162 of file gazebo_ros_kobuki.h.

kobuki_msgs::BumperEvent gazebo::GazeboRosKobuki::bumper_event_ [private]

Kobuki ROS message for bumper event.

Definition at line 166 of file gazebo_ros_kobuki.h.

kobuki_msgs::BumperEvent gazebo::GazeboRosKobuki::bumper_event_old_ [private]

Storage for last bumper sensor state state for checking if something has changed.

Definition at line 168 of file gazebo_ros_kobuki.h.

ros::Publisher gazebo::GazeboRosKobuki::bumper_event_pub_ [private]

ROS publisher for bumper events.

Definition at line 164 of file gazebo_ros_kobuki.h.

float gazebo::GazeboRosKobuki::cliff_detection_threshold_ [private]

measured distance in meter for detecting a cliff

Definition at line 158 of file gazebo_ros_kobuki.h.

kobuki_msgs::CliffEvent gazebo::GazeboRosKobuki::cliff_event_ [private]

Kobuki ROS message for cliff event.

Definition at line 154 of file gazebo_ros_kobuki.h.

kobuki_msgs::CliffEvent gazebo::GazeboRosKobuki::cliff_event_old_ [private]

Storage for last cliff sensor state state for checking if something has changed.

Definition at line 156 of file gazebo_ros_kobuki.h.

ros::Publisher gazebo::GazeboRosKobuki::cliff_event_pub_ [private]

ROS publisher for cliff detection events.

Definition at line 152 of file gazebo_ros_kobuki.h.

sensors::RaySensorPtr gazebo::GazeboRosKobuki::cliff_sensor_front_ [private]

Pointer to frontal cliff sensor.

Definition at line 148 of file gazebo_ros_kobuki.h.

sensors::RaySensorPtr gazebo::GazeboRosKobuki::cliff_sensor_left_ [private]

Pointer to left cliff sensor.

Definition at line 146 of file gazebo_ros_kobuki.h.

sensors::RaySensorPtr gazebo::GazeboRosKobuki::cliff_sensor_right_ [private]

Pointer to left right sensor.

Definition at line 150 of file gazebo_ros_kobuki.h.

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

ROS subscriber for velocity commands.

Definition at line 118 of file gazebo_ros_kobuki.h.

float gazebo::GazeboRosKobuki::cmd_vel_timeout_ [private]

Time out for velocity commands in seconds.

Definition at line 122 of file gazebo_ros_kobuki.h.

sensor_msgs::JointState gazebo::GazeboRosKobuki::joint_state_ [private]

ROS message for joint sates.

Definition at line 116 of file gazebo_ros_kobuki.h.

ros::Publisher gazebo::GazeboRosKobuki::joint_state_pub_ [private]

ROS publisher for joint state messages.

Definition at line 114 of file gazebo_ros_kobuki.h.

physics::JointPtr gazebo::GazeboRosKobuki::joints_[2] [private]

Pointers to Gazebo's joints.

Definition at line 108 of file gazebo_ros_kobuki.h.

common::Time gazebo::GazeboRosKobuki::last_cmd_vel_time_ [private]

Simulation time of the last velocity command (used for time out)

Definition at line 120 of file gazebo_ros_kobuki.h.

std::string gazebo::GazeboRosKobuki::left_wheel_joint_name_ [private]

Left wheel's joint name.

Definition at line 110 of file gazebo_ros_kobuki.h.

int gazebo::GazeboRosKobuki::max_floot_dist_ [private]

Maximum distance to floor.

Definition at line 160 of file gazebo_ros_kobuki.h.

physics::ModelPtr gazebo::GazeboRosKobuki::model_ [private]

pointer to the model

Definition at line 96 of file gazebo_ros_kobuki.h.

ros::Subscriber gazebo::GazeboRosKobuki::motor_power_sub_ [private]

ROS subscriber for motor power commands.

Definition at line 104 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::motors_enabled_ [private]

Flag indicating if the motors are turned on or not.

Definition at line 106 of file gazebo_ros_kobuki.h.

ros::NodeHandle gazebo::GazeboRosKobuki::nh_ [private]

ROS node handles (relative & private)

Definition at line 88 of file gazebo_ros_kobuki.h.

ros::NodeHandle gazebo::GazeboRosKobuki::nh_priv_ [private]

Definition at line 88 of file gazebo_ros_kobuki.h.

std::string gazebo::GazeboRosKobuki::node_name_ [private]

node name

Definition at line 90 of file gazebo_ros_kobuki.h.

nav_msgs::Odometry gazebo::GazeboRosKobuki::odom_ [private]

ROS message for odometry data.

Definition at line 140 of file gazebo_ros_kobuki.h.

float gazebo::GazeboRosKobuki::odom_pose_[3] [private]

Vector for pose.

Definition at line 132 of file gazebo_ros_kobuki.h.

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

ROS publisher for odometry messages.

Definition at line 138 of file gazebo_ros_kobuki.h.

geometry_msgs::TransformStamped gazebo::GazeboRosKobuki::odom_tf_ [private]

TF transform for the odom frame.

Definition at line 144 of file gazebo_ros_kobuki.h.

float gazebo::GazeboRosKobuki::odom_vel_[3] [private]

Vector for velocity.

Definition at line 134 of file gazebo_ros_kobuki.h.

double* gazebo::GazeboRosKobuki::pose_cov_[36] [private]

Pointer to covariance matrix.

Definition at line 136 of file gazebo_ros_kobuki.h.

common::Time gazebo::GazeboRosKobuki::prev_update_time_ [private]

Simulation time on previous update.

Definition at line 102 of file gazebo_ros_kobuki.h.

std::string gazebo::GazeboRosKobuki::right_wheel_joint_name_ [private]

Right wheel's joint name.

Definition at line 112 of file gazebo_ros_kobuki.h.

bool gazebo::GazeboRosKobuki::shutdown_requested_ [private]

extra thread for triggering ROS callbacks

flag for shutting down the spinner thread

Definition at line 94 of file gazebo_ros_kobuki.h.

tf::TransformBroadcaster gazebo::GazeboRosKobuki::tf_broadcaster_ [private]

TF transform publisher for the odom frame.

Definition at line 142 of file gazebo_ros_kobuki.h.

float gazebo::GazeboRosKobuki::torque_ [private]

Max. torque applied to the wheels.

Definition at line 126 of file gazebo_ros_kobuki.h.

event::ConnectionPtr gazebo::GazeboRosKobuki::update_connection_ [private]

pointer to the update event connection (triggers the OnUpdate callback when event update event is received)

Definition at line 100 of file gazebo_ros_kobuki.h.

float gazebo::GazeboRosKobuki::wheel_diam_ [private]

Diameter of the wheels.

Definition at line 130 of file gazebo_ros_kobuki.h.

float gazebo::GazeboRosKobuki::wheel_sep_ [private]

Separation between the wheels.

Definition at line 128 of file gazebo_ros_kobuki.h.

float gazebo::GazeboRosKobuki::wheel_speed_cmd_[2] [private]

Speeds of the wheels.

Definition at line 124 of file gazebo_ros_kobuki.h.

physics::WorldPtr gazebo::GazeboRosKobuki::world_ [private]

pointer to simulated world

Definition at line 98 of file gazebo_ros_kobuki.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation