gazebo::GazeboRosSkidSteerDrive Class Reference

#include <gazebo_ros_skid_steer_drive.h>

List of all members.

Public Member Functions
	GazeboRosSkidSteerDrive ()
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	~GazeboRosSkidSteerDrive ()
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_
bool	broadcast_tf_
boost::thread	callback_queue_thread_
ros::Subscriber	cmd_vel_subscriber_
std::string	command_topic_
double	covariance_x_
double	covariance_y_
double	covariance_yaw_
physics::JointPtr	joints [4]
common::Time	last_update_time_
std::string	left_front_joint_name_
std::string	left_rear_joint_name_
boost::mutex	lock
nav_msgs::Odometry	odom_
std::string	odometry_frame_
ros::Publisher	odometry_publisher_
std::string	odometry_topic_
physics::ModelPtr	parent
ros::CallbackQueue	queue_
std::string	right_front_joint_name_
std::string	right_rear_joint_name_
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_ [4]
physics::WorldPtr	world
double	x_

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Detailed Description

Definition at line 68 of file gazebo_ros_skid_steer_drive.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosSkidSteerDrive::GazeboRosSkidSteerDrive

(

)

Definition at line 66 of file gazebo_ros_skid_steer_drive.cpp.

gazebo::GazeboRosSkidSteerDrive::~GazeboRosSkidSteerDrive

(

)

Definition at line 69 of file gazebo_ros_skid_steer_drive.cpp.

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Member Function Documentation

void gazebo::GazeboRosSkidSteerDrive::cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_msg

)

[private]

Definition at line 382 of file gazebo_ros_skid_steer_drive.cpp.

void gazebo::GazeboRosSkidSteerDrive::FiniChild

(

)

[protected, virtual]

Definition at line 360 of file gazebo_ros_skid_steer_drive.cpp.

void gazebo::GazeboRosSkidSteerDrive::getWheelVelocities

(

)

[private]

Definition at line 368 of file gazebo_ros_skid_steer_drive.cpp.

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

Definition at line 75 of file gazebo_ros_skid_steer_drive.cpp.

void gazebo::GazeboRosSkidSteerDrive::publishOdometry

(

double

step_time

)

[private]

Definition at line 398 of file gazebo_ros_skid_steer_drive.cpp.

void gazebo::GazeboRosSkidSteerDrive::QueueThread

(

)

[private]

Definition at line 390 of file gazebo_ros_skid_steer_drive.cpp.

void gazebo::GazeboRosSkidSteerDrive::UpdateChild

(

)

[protected, virtual]

Definition at line 332 of file gazebo_ros_skid_steer_drive.cpp.

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Member Data Documentation

bool gazebo::GazeboRosSkidSteerDrive::alive_ [private]

Definition at line 126 of file gazebo_ros_skid_steer_drive.h.

bool gazebo::GazeboRosSkidSteerDrive::broadcast_tf_ [private]

Definition at line 106 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 118 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 102 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 111 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::covariance_x_ [private]

Definition at line 133 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::covariance_y_ [private]

Definition at line 134 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::covariance_yaw_ [private]

Definition at line 135 of file gazebo_ros_skid_steer_drive.h.

physics::JointPtr gazebo::GazeboRosSkidSteerDrive::joints[4] [private]

Definition at line 97 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 131 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::left_front_joint_name_ [private]

Definition at line 87 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::left_rear_joint_name_ [private]

Definition at line 89 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 108 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 104 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 113 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 101 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 112 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 84 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 117 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::right_front_joint_name_ [private]

Definition at line 88 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::right_rear_joint_name_ [private]

Definition at line 90 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 114 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 110 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 100 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::rot_ [private]

Definition at line 125 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 105 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::torque [private]

Definition at line 94 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 103 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 85 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::update_period_ [private]

Definition at line 130 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::update_rate_ [private]

Definition at line 129 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::wheel_diameter_ [private]

Definition at line 93 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::wheel_separation_ [private]

Definition at line 92 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::wheel_speed_[4] [private]

Definition at line 95 of file gazebo_ros_skid_steer_drive.h.

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

Definition at line 83 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::x_ [private]

Definition at line 124 of file gazebo_ros_skid_steer_drive.h.

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

• gazebo_ros_skid_steer_drive.h
• gazebo_ros_skid_steer_drive.cpp