gazebo_ros_gpu_laser.h
Go to the documentation of this file.
00001 /*
00002  * Copyright 2012 Open Source Robotics Foundation
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 
00018 #ifndef GAZEBO_ROS_LASER_HH
00019 #define GAZEBO_ROS_LASER_HH
00020 
00021 #include <string>
00022 
00023 #include <boost/bind.hpp>
00024 #include <boost/thread.hpp>
00025 
00026 #include <ros/ros.h>
00027 #include <ros/advertise_options.h>
00028 #include <sensor_msgs/LaserScan.h>
00029 
00030 #include <gazebo/physics/physics.hh>
00031 #include <gazebo/transport/TransportTypes.hh>
00032 #include <gazebo/msgs/MessageTypes.hh>
00033 #include <gazebo/common/Time.hh>
00034 #include <gazebo/common/Plugin.hh>
00035 #include <gazebo/common/Events.hh>
00036 #include <gazebo/sensors/SensorTypes.hh>
00037 #include <gazebo/plugins/GpuRayPlugin.hh>
00038 
00039 #include <sdf/sdf.hh>
00040 
00041 #include <gazebo_plugins/PubQueue.h>
00042 
00043 namespace gazebo
00044 {
00045   class GazeboRosLaser : public GpuRayPlugin
00046   {
00048     public: GazeboRosLaser();
00049 
00051     public: ~GazeboRosLaser();
00052 
00055     public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
00056 
00058     private: int laser_connect_count_;
00059     private: void LaserConnect();
00060     private: void LaserDisconnect();
00061 
00062     // Pointer to the model
00063     private: std::string world_name_;
00064     private: physics::WorldPtr world_;
00066     private: sensors::GpuRaySensorPtr parent_ray_sensor_;
00067 
00069     private: ros::NodeHandle* rosnode_;
00070     private: ros::Publisher pub_;
00071     private: PubQueue<sensor_msgs::LaserScan>::Ptr pub_queue_;
00072 
00074     private: std::string topic_name_;
00075 
00077     private: std::string frame_name_;
00078     
00080     private: std::string tf_prefix_;
00081 
00083     private: std::string robot_namespace_;
00084 
00085     // deferred load in case ros is blocking
00086     private: sdf::ElementPtr sdf;
00087     private: void LoadThread();
00088     private: boost::thread deferred_load_thread_;
00089     private: unsigned int seed;
00090 
00091     private: gazebo::transport::NodePtr gazebo_node_;
00092     private: gazebo::transport::SubscriberPtr laser_scan_sub_;
00093     private: void OnScan(ConstLaserScanStampedPtr &_msg);
00094 
00096     private: PubMultiQueue pmq;
00097   };
00098 }
00099 #endif


gazebo_plugins
Author(s): John Hsu
autogenerated on Thu Feb 23 2017 03:43:22