gazebo::GazeboRos Class Reference

#include <gazebo_ros_utils.h>

List of all members.

Public Member Functions
	GazeboRos (physics::ModelPtr &_parent, sdf::ElementPtr _sdf, const std::string &_plugin)
	GazeboRos (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_plugin)
physics::JointPtr	getJoint (physics::ModelPtr &_parent, const char *_tag_name, const std::string &_joint_default_name)
template<class T >
void	getParameter (T &_value, const char *_tag_name, const T &_default)
template<class T >
void	getParameter (T &_value, const char *_tag_name)
template<class T >
void	getParameter (T &_value, const char *_tag_name, const std::map< std::string, T > &_options, const T &_default)
template<class T >
void	getParameter (T &_value, const char *_tag_name, const std::map< std::string, T > &_options)
void	getParameterBoolean (bool &_value, const char *_tag_name, const bool &_default)
void	getParameterBoolean (bool &_value, const char *_tag_name)
const char *	info () const
void	isInitialized ()
boost::shared_ptr < ros::NodeHandle > &	node ()
const boost::shared_ptr < ros::NodeHandle > &	node () const
std::string	resolveTF (const std::string &_name)
Private Member Functions
void	readCommonParameter ()
	info text for log messages to identify the node
Private Attributes
std::string	info_text
	prefix for the ros tf plublisher if not set it uses the namespace_
std::string	namespace_
	name of the plugin class
std::string	plugin_
	sdf to read
boost::shared_ptr < ros::NodeHandle >	rosnode_
	name of the launched node
sdf::ElementPtr	sdf_
std::string	tf_prefix_
	rosnode

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Detailed Description

Gazebo ros helper class The class simplifies the parameter and rosnode handling

Author:

Markus Bader <markus.bader@tuwien.ac.at>

Definition at line 113 of file gazebo_ros_utils.h.

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Constructor & Destructor Documentation

gazebo::GazeboRos::GazeboRos	(	physics::ModelPtr &	_parent,
		sdf::ElementPtr	_sdf,
		const std::string &	_plugin
	)		[inline]

Constructor

Parameters:

_parent	models parent
_sdf	sdf to read
_name	of the plugin class

Definition at line 133 of file gazebo_ros_utils.h.

gazebo::GazeboRos::GazeboRos	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf,
		const std::string &	_plugin
	)		[inline]

Constructor

Parameters:

_parent	sensor parent
_sdf	sdf to read
_name	of the plugin class

Definition at line 156 of file gazebo_ros_utils.h.

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Member Function Documentation

physics::JointPtr GazeboRos::getJoint	(	physics::ModelPtr &	_parent,
		const char *	_tag_name,
		const std::string &	_joint_default_name
	)

retuns a JointPtr based on an sdf tag_name entry

Parameters:

_value
_tag_name
_joint_default_name	JointPtr

Definition at line 130 of file gazebo_ros_utils.cpp.

template<class T >

void gazebo::GazeboRos::getParameter	(	T &	_value,
		const char *	_tag_name,
		const T &	_default
	)		[inline]

reads the follwoing _tag_name paramer or sets a _default value

Parameters:

_value
_tag_name
_default	sdf tag value

Definition at line 236 of file gazebo_ros_utils.h.

template<class T >

void gazebo::GazeboRos::getParameter	(	T &	_value,
		const char *	_tag_name
	)		[inline]

reads the follwoing _tag_name paramer

Parameters:

_value
_tag_name
_default	sdf tag value

Definition at line 252 of file gazebo_ros_utils.h.

template<class T >

void gazebo::GazeboRos::getParameter	(	T &	_value,
		const char *	_tag_name,
		const std::map< std::string, T > &	_options,
		const T &	_default
	)		[inline]

reads the following _tag_name paramer and compares the value with an _options map keys and retuns the corresponding value.

Parameters:

_value
_tag_name
_default	sdf tag value

Definition at line 268 of file gazebo_ros_utils.h.

template<class T >

void gazebo::GazeboRos::getParameter	(	T &	_value,
		const char *	_tag_name,
		const std::map< std::string, T > &	_options
	)		[inline]

reads the following _tag_name paramer and compares the value with an _options map keys and retuns the corresponding value.

Parameters:

_value
_tag_name
_default	sdf tag value

Definition at line 284 of file gazebo_ros_utils.h.

void GazeboRos::getParameterBoolean	(	bool &	_value,
		const char *	_tag_name,
		const bool &	_default
	)

reads the follwoing _tag_name paramer or sets a _default value

Parameters:

_value
_tag_name
_default	sdf tag value

Definition at line 97 of file gazebo_ros_utils.cpp.

void GazeboRos::getParameterBoolean	(	bool &	_value,
		const char *	_tag_name
	)

reads the follwoing _tag_name paramer

Parameters:

_value
_tag_name	sdf tag value

Definition at line 107 of file gazebo_ros_utils.cpp.

const char * GazeboRos::info

(

)

const

Returns info text used for log messages

Returns:

class name and node name as string

Definition at line 42 of file gazebo_ros_utils.cpp.

void GazeboRos::isInitialized

(

)

checks if the ros not is initialized JointPtr

Definition at line 145 of file gazebo_ros_utils.cpp.

boost::shared_ptr< ros::NodeHandle > & GazeboRos::node

(

)

returns the initialized created within the constuctor

Returns:

rosnode

Definition at line 45 of file gazebo_ros_utils.cpp.

const boost::shared_ptr< ros::NodeHandle > & GazeboRos::node

(

)

const

returns the initialized within the constuctor

Returns:

rosnode

Definition at line 48 of file gazebo_ros_utils.cpp.

void GazeboRos::readCommonParameter

(

)

[private]

info text for log messages to identify the node

Reads the common plugin parameters used by the constructor

Definition at line 55 of file gazebo_ros_utils.cpp.

std::string GazeboRos::resolveTF

(

const std::string &

_name

)

resolves a tf frame name by adding the tf_prefix initialized within the constuctor

Parameters:

_name

resolved tf name

Definition at line 52 of file gazebo_ros_utils.cpp.

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Member Data Documentation

std::string gazebo::GazeboRos::info_text [private]

prefix for the ros tf plublisher if not set it uses the namespace_

Definition at line 121 of file gazebo_ros_utils.h.

std::string gazebo::GazeboRos::namespace_ [private]

name of the plugin class

Definition at line 118 of file gazebo_ros_utils.h.

std::string gazebo::GazeboRos::plugin_ [private]

sdf to read

Definition at line 117 of file gazebo_ros_utils.h.

boost::shared_ptr<ros::NodeHandle> gazebo::GazeboRos::rosnode_ [private]

name of the launched node

Definition at line 119 of file gazebo_ros_utils.h.

sdf::ElementPtr gazebo::GazeboRos::sdf_ [private]

Definition at line 116 of file gazebo_ros_utils.h.

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

rosnode

Definition at line 120 of file gazebo_ros_utils.h.

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

• gazebo_ros_utils.h
• gazebo_ros_utils.cpp