gazebo::GazeboRosDiffDriveMultiWheel Class Reference

#include <diffdrive_plugin_multi_wheel.h>

List of all members.

Public Member Functions
	GazeboRosDiffDriveMultiWheel ()
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	~GazeboRosDiffDriveMultiWheel ()
Protected Member Functions
virtual void	FiniChild ()
virtual void	UpdateChild ()
Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
void	getWheelVelocities ()
void	publishOdometry (double step_time)
void	QueueThread ()
Private Attributes
bool	alive_
boost::thread	callback_queue_thread_
ros::Subscriber	cmd_vel_subscriber_
std::string	command_topic_
std::vector< std::string >	joint_names_ [2]
std::vector< physics::JointPtr >	joints_ [2]
common::Time	last_update_time_
boost::mutex	lock
nav_msgs::Odometry	odom_
std::string	odometry_frame_
ros::Publisher	odometry_publisher_
std::string	odometry_topic_
physics::ModelPtr	parent
bool	publish_odometry_msg_
bool	publish_odometry_tf_
ros::CallbackQueue	queue_
std::string	robot_base_frame_
std::string	robot_namespace_
ros::NodeHandle *	rosnode_
double	rot_
std::string	tf_prefix_
double	torque
tf::TransformBroadcaster *	transform_broadcaster_
event::ConnectionPtr	update_connection_
double	update_period_
double	update_rate_
double	wheel_diameter_
double	wheel_separation_
double	wheel_speed_ [2]
physics::WorldPtr	world
double	x_

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Detailed Description

Definition at line 104 of file diffdrive_plugin_multi_wheel.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosDiffDriveMultiWheel::GazeboRosDiffDriveMultiWheel

(

)

Definition at line 103 of file diffdrive_plugin_multi_wheel.cpp.

gazebo::GazeboRosDiffDriveMultiWheel::~GazeboRosDiffDriveMultiWheel

(

)

Definition at line 106 of file diffdrive_plugin_multi_wheel.cpp.

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Member Function Documentation

void gazebo::GazeboRosDiffDriveMultiWheel::cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_msg

)

[private]

Definition at line 342 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::FiniChild

(

)

[protected, virtual]

Definition at line 324 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::getWheelVelocities

(

)

[private]

Definition at line 332 of file diffdrive_plugin_multi_wheel.cpp.

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

Definition at line 112 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::publishOdometry

(

double

step_time

)

[private]

Definition at line 358 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::QueueThread

(

)

[private]

Definition at line 350 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::UpdateChild

(

)

[protected, virtual]

Definition at line 297 of file diffdrive_plugin_multi_wheel.cpp.

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Member Data Documentation

bool gazebo::GazeboRosDiffDriveMultiWheel::alive_ [private]

Definition at line 158 of file diffdrive_plugin_multi_wheel.h.

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

Definition at line 150 of file diffdrive_plugin_multi_wheel.h.

ros::Subscriber gazebo::GazeboRosDiffDriveMultiWheel::cmd_vel_subscriber_ [private]

Definition at line 135 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::command_topic_ [private]

Definition at line 143 of file diffdrive_plugin_multi_wheel.h.

std::vector<std::string> gazebo::GazeboRosDiffDriveMultiWheel::joint_names_[2] [private]

Definition at line 123 of file diffdrive_plugin_multi_wheel.h.

std::vector<physics::JointPtr> gazebo::GazeboRosDiffDriveMultiWheel::joints_[2] [private]

Definition at line 130 of file diffdrive_plugin_multi_wheel.h.

common::Time gazebo::GazeboRosDiffDriveMultiWheel::last_update_time_ [private]

Definition at line 163 of file diffdrive_plugin_multi_wheel.h.

boost::mutex gazebo::GazeboRosDiffDriveMultiWheel::lock [private]

Definition at line 140 of file diffdrive_plugin_multi_wheel.h.

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

Definition at line 137 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::odometry_frame_ [private]

Definition at line 145 of file diffdrive_plugin_multi_wheel.h.

ros::Publisher gazebo::GazeboRosDiffDriveMultiWheel::odometry_publisher_ [private]

Definition at line 134 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::odometry_topic_ [private]

Definition at line 144 of file diffdrive_plugin_multi_wheel.h.

physics::ModelPtr gazebo::GazeboRosDiffDriveMultiWheel::parent [private]

Definition at line 120 of file diffdrive_plugin_multi_wheel.h.

bool gazebo::GazeboRosDiffDriveMultiWheel::publish_odometry_msg_ [private]

Definition at line 166 of file diffdrive_plugin_multi_wheel.h.

bool gazebo::GazeboRosDiffDriveMultiWheel::publish_odometry_tf_ [private]

Definition at line 165 of file diffdrive_plugin_multi_wheel.h.

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

Definition at line 149 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::robot_base_frame_ [private]

Definition at line 146 of file diffdrive_plugin_multi_wheel.h.

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

Definition at line 142 of file diffdrive_plugin_multi_wheel.h.

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

Definition at line 133 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::rot_ [private]

Definition at line 157 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::tf_prefix_ [private]

Definition at line 138 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::torque [private]

Definition at line 127 of file diffdrive_plugin_multi_wheel.h.

tf::TransformBroadcaster* gazebo::GazeboRosDiffDriveMultiWheel::transform_broadcaster_ [private]

Definition at line 136 of file diffdrive_plugin_multi_wheel.h.

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

Definition at line 121 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::update_period_ [private]

Definition at line 162 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::update_rate_ [private]

Definition at line 161 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::wheel_diameter_ [private]

Definition at line 126 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::wheel_separation_ [private]

Definition at line 125 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::wheel_speed_[2] [private]

Definition at line 128 of file diffdrive_plugin_multi_wheel.h.

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

Definition at line 119 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::x_ [private]

Definition at line 156 of file diffdrive_plugin_multi_wheel.h.

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

• diffdrive_plugin_multi_wheel.h
• diffdrive_plugin_multi_wheel.cpp