gazebo::GazeboRosMoveItPlanningScene Class Reference

#include <gazebo_ros_moveit_planning_scene.h>

List of all members.

Public Member Functions
	GazeboRosMoveItPlanningScene ()
	Constructor.
virtual	~GazeboRosMoveItPlanningScene ()
	Destructor.
Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
virtual void	UpdateCB ()
Private Member Functions
bool	PublishPlanningSceneCB (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
	publish the complete planning scene
void	QueueThread ()
	The custom callback queue thread function.
Private Attributes
event::ConnectionPtr	add_connection_
boost::thread	callback_queue_thread_
	Thead object for the running callback Thread.
std::map< std::string, moveit_msgs::CollisionObject >	collision_object_map_
event::ConnectionPtr	delete_connection_
ros::Time	last_publish_time_
physics::ModelPtr	model_
	A pointer to the Model of the robot doing the planning.
std::string	model_name_
boost::mutex	mutex_
	A mutex to lock access to fields that are used in ROS message callbacks.
moveit_msgs::PlanningScene	planning_scene_msg_
	Container for the planning scene.
ros::Publisher	planning_scene_pub_
bool	publish_full_scene_
ros::Duration	publish_period_
ros::ServiceServer	publish_planning_scene_service_
ros::CallbackQueue	queue_
std::string	robot_name_
std::string	robot_namespace_
	for setting ROS name space
boost::scoped_ptr < ros::NodeHandle >	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist.
std::string	scene_name_
	The MoveIt scene name.
std::string	topic_name_
	ROS topic name inputs.
event::ConnectionPtr	update_connection_
physics::WorldPtr	world_
	A pointer to the gazebo world.

---

Detailed Description

Definition at line 91 of file gazebo_ros_moveit_planning_scene.h.

---

Constructor & Destructor Documentation

gazebo::GazeboRosMoveItPlanningScene::GazeboRosMoveItPlanningScene

(

)

Constructor.

Definition at line 39 of file gazebo_ros_moveit_planning_scene.cpp.

gazebo::GazeboRosMoveItPlanningScene::~GazeboRosMoveItPlanningScene

(

)

[virtual]

Destructor.

Definition at line 45 of file gazebo_ros_moveit_planning_scene.cpp.

---

Member Function Documentation

void gazebo::GazeboRosMoveItPlanningScene::Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)		[protected]

Definition at line 58 of file gazebo_ros_moveit_planning_scene.cpp.

bool gazebo::GazeboRosMoveItPlanningScene::PublishPlanningSceneCB	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)		[private]

publish the complete planning scene

Definition at line 144 of file gazebo_ros_moveit_planning_scene.cpp.

void gazebo::GazeboRosMoveItPlanningScene::QueueThread

(

)

[private]

The custom callback queue thread function.

Definition at line 467 of file gazebo_ros_moveit_planning_scene.cpp.

void gazebo::GazeboRosMoveItPlanningScene::UpdateCB

(

)

[protected, virtual]

Definition at line 158 of file gazebo_ros_moveit_planning_scene.cpp.

---

Member Data Documentation

event::ConnectionPtr gazebo::GazeboRosMoveItPlanningScene::add_connection_ [private]

Definition at line 147 of file gazebo_ros_moveit_planning_scene.h.

boost::thread gazebo::GazeboRosMoveItPlanningScene::callback_queue_thread_ [private]

Thead object for the running callback Thread.

Definition at line 140 of file gazebo_ros_moveit_planning_scene.h.

std::map<std::string, moveit_msgs::CollisionObject> gazebo::GazeboRosMoveItPlanningScene::collision_object_map_ [private]

Definition at line 143 of file gazebo_ros_moveit_planning_scene.h.

event::ConnectionPtr gazebo::GazeboRosMoveItPlanningScene::delete_connection_ [private]

Definition at line 148 of file gazebo_ros_moveit_planning_scene.h.

ros::Time gazebo::GazeboRosMoveItPlanningScene::last_publish_time_ [private]

Definition at line 154 of file gazebo_ros_moveit_planning_scene.h.

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

A pointer to the Model of the robot doing the planning.

Definition at line 117 of file gazebo_ros_moveit_planning_scene.h.

std::string gazebo::GazeboRosMoveItPlanningScene::model_name_ [private]

Definition at line 132 of file gazebo_ros_moveit_planning_scene.h.

boost::mutex gazebo::GazeboRosMoveItPlanningScene::mutex_ [private]

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

Definition at line 125 of file gazebo_ros_moveit_planning_scene.h.

moveit_msgs::PlanningScene gazebo::GazeboRosMoveItPlanningScene::planning_scene_msg_ [private]

Container for the planning scene.

Definition at line 142 of file gazebo_ros_moveit_planning_scene.h.

ros::Publisher gazebo::GazeboRosMoveItPlanningScene::planning_scene_pub_ [private]

Definition at line 121 of file gazebo_ros_moveit_planning_scene.h.

bool gazebo::GazeboRosMoveItPlanningScene::publish_full_scene_ [private]

Definition at line 151 of file gazebo_ros_moveit_planning_scene.h.

ros::Duration gazebo::GazeboRosMoveItPlanningScene::publish_period_ [private]

Definition at line 153 of file gazebo_ros_moveit_planning_scene.h.

ros::ServiceServer gazebo::GazeboRosMoveItPlanningScene::publish_planning_scene_service_ [private]

Definition at line 122 of file gazebo_ros_moveit_planning_scene.h.

ros::CallbackQueue gazebo::GazeboRosMoveItPlanningScene::queue_ [private]

Definition at line 138 of file gazebo_ros_moveit_planning_scene.h.

std::string gazebo::GazeboRosMoveItPlanningScene::robot_name_ [private]

Definition at line 131 of file gazebo_ros_moveit_planning_scene.h.

std::string gazebo::GazeboRosMoveItPlanningScene::robot_namespace_ [private]

for setting ROS name space

Definition at line 135 of file gazebo_ros_moveit_planning_scene.h.

boost::scoped_ptr<ros::NodeHandle> gazebo::GazeboRosMoveItPlanningScene::rosnode_ [private]

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 120 of file gazebo_ros_moveit_planning_scene.h.

std::string gazebo::GazeboRosMoveItPlanningScene::scene_name_ [private]

The MoveIt scene name.

Definition at line 130 of file gazebo_ros_moveit_planning_scene.h.

std::string gazebo::GazeboRosMoveItPlanningScene::topic_name_ [private]

ROS topic name inputs.

Definition at line 128 of file gazebo_ros_moveit_planning_scene.h.

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

Definition at line 146 of file gazebo_ros_moveit_planning_scene.h.

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

A pointer to the gazebo world.

Definition at line 114 of file gazebo_ros_moveit_planning_scene.h.

---

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

• gazebo_ros_moveit_planning_scene.h
• gazebo_ros_moveit_planning_scene.cpp