gazebo::GazeboRosControllerManager Class Reference

#include <gazebo_ros_controller_manager.h>

List of all members.

Public Member Functions
	GazeboRosControllerManager ()
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
virtual	~GazeboRosControllerManager ()
Protected Member Functions
virtual void	UpdateChild ()
Private Member Functions
void	ControllerManagerROSThread ()
void	ReadPr2Xml ()
	Service Call Name.
bool	setModelsJointsStates (pr2_gazebo_plugins::SetModelsJointsStates::Request &req, pr2_gazebo_plugins::SetModelsJointsStates::Response &res)
	ros service callback
Private Attributes
pr2_controller_manager::ControllerManager *	cm_
bool	fake_calibration_
pr2_mechanism_model::RobotState *	fake_state_
pr2_hardware_interface::HardwareInterface	hw_
std::vector < gazebo::physics::JointPtr >	joints_
transport::NodePtr	node
gazebo::physics::ModelPtr	parent_model_
std::string	robotNamespace
std::string	robotParam
	set topic name of robot description parameter
boost::thread	ros_spinner_thread_
ros::NodeHandle *	rosnode_
ros::ServiceServer	setModelsJointsStatesService
	ros service
double	sim_start_
common::Time	simTime
transport::SubscriberPtr	statsSub
event::ConnectionPtr	updateConnection
double	wall_start_
	ros service callback
physics::WorldPtr	world

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Detailed Description

Definition at line 59 of file gazebo_ros_controller_manager.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosControllerManager::GazeboRosControllerManager

(

)

Definition at line 53 of file gazebo_ros_controller_manager.cpp.

gazebo::GazeboRosControllerManager::~GazeboRosControllerManager

(

)

[virtual]

Definition at line 66 of file gazebo_ros_controller_manager.cpp.

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Member Function Documentation

void gazebo::GazeboRosControllerManager::ControllerManagerROSThread

(

)

[private]

Definition at line 420 of file gazebo_ros_controller_manager.cpp.

void gazebo::GazeboRosControllerManager::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Definition at line 96 of file gazebo_ros_controller_manager.cpp.

void gazebo::GazeboRosControllerManager::ReadPr2Xml

(

)

[private]

Service Call Name.

Definition at line 334 of file gazebo_ros_controller_manager.cpp.

bool gazebo::GazeboRosControllerManager::setModelsJointsStates	(	pr2_gazebo_plugins::SetModelsJointsStates::Request &	req,
		pr2_gazebo_plugins::SetModelsJointsStates::Response &	res
	)		[private]

ros service callback

void gazebo::GazeboRosControllerManager::UpdateChild

(

)

[protected, virtual]

Definition at line 206 of file gazebo_ros_controller_manager.cpp.

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Member Data Documentation

pr2_controller_manager::ControllerManager* gazebo::GazeboRosControllerManager::cm_ [private]

Definition at line 74 of file gazebo_ros_controller_manager.h.

bool gazebo::GazeboRosControllerManager::fake_calibration_ [private]

Definition at line 115 of file gazebo_ros_controller_manager.h.

pr2_mechanism_model::RobotState* gazebo::GazeboRosControllerManager::fake_state_ [private]

Todo:

The fake state helps Gazebo run the transmissions backwards, so that it can figure out what its joints should do based on the actuator values.

Definition at line 79 of file gazebo_ros_controller_manager.h.

pr2_hardware_interface::HardwareInterface gazebo::GazeboRosControllerManager::hw_ [private]

Definition at line 73 of file gazebo_ros_controller_manager.h.

std::vector<gazebo::physics::JointPtr> gazebo::GazeboRosControllerManager::joints_ [private]

Definition at line 80 of file gazebo_ros_controller_manager.h.

transport::NodePtr gazebo::GazeboRosControllerManager::node [private]

Definition at line 132 of file gazebo_ros_controller_manager.h.

gazebo::physics::ModelPtr gazebo::GazeboRosControllerManager::parent_model_ [private]

Definition at line 72 of file gazebo_ros_controller_manager.h.

std::string gazebo::GazeboRosControllerManager::robotNamespace [private]

Definition at line 113 of file gazebo_ros_controller_manager.h.

std::string gazebo::GazeboRosControllerManager::robotParam [private]

set topic name of robot description parameter

Definition at line 112 of file gazebo_ros_controller_manager.h.

boost::thread gazebo::GazeboRosControllerManager::ros_spinner_thread_ [private]

Definition at line 123 of file gazebo_ros_controller_manager.h.

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

Definition at line 94 of file gazebo_ros_controller_manager.h.

ros::ServiceServer gazebo::GazeboRosControllerManager::setModelsJointsStatesService [private]

ros service

Definition at line 97 of file gazebo_ros_controller_manager.h.

double gazebo::GazeboRosControllerManager::sim_start_ [private]

Definition at line 107 of file gazebo_ros_controller_manager.h.

common::Time gazebo::GazeboRosControllerManager::simTime [private]

Definition at line 134 of file gazebo_ros_controller_manager.h.

transport::SubscriberPtr gazebo::GazeboRosControllerManager::statsSub [private]

Definition at line 133 of file gazebo_ros_controller_manager.h.

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

Definition at line 129 of file gazebo_ros_controller_manager.h.

double gazebo::GazeboRosControllerManager::wall_start_ [private]

ros service callback

Definition at line 107 of file gazebo_ros_controller_manager.h.

physics::WorldPtr gazebo::GazeboRosControllerManager::world [private]

Definition at line 126 of file gazebo_ros_controller_manager.h.

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

• gazebo_ros_controller_manager.h
• gazebo_ros_controller_manager.cpp