#include <mvsim_node_core.h>

Classes
struct	MVSimVisitor_notifyROSWorldIsUpdated
class	MyWorld
struct	TPubSubPerVehicle
struct	TThreadParams
Public Member Functions
void	configCallback (mvsim::mvsimNodeConfig &config, uint32_t level)
void	loadWorldModel (const std::string &world_xml_file)
	MVSimNode (ros::NodeHandle &n)
void	spin ()
	Process pending msgs, run real-time simulation, etc.
	~MVSimNode ()
Public Attributes
int	gui_refresh_period_ms_
	Default:25.
bool	m_do_fake_localization
bool	m_show_gui
	Default= true.
double	m_transform_tolerance
MyWorld	mvsim_world_
double	realtime_factor_
	everything: vehicles, obstacles, etc.)
Protected Member Functions
void	initPubSubs (TPubSubPerVehicle &out_pubsubs, mvsim::VehicleBase *veh)
void	notifyROSWorldIsUpdated ()
void	onROSMsgCmdVel (const geometry_msgs::Twist::ConstPtr &cmd, mvsim::VehicleBase *veh)
void	sendStaticTF (const std::string &frame_id, const std::string &child_frame_id, const tf::Transform &tx, const ros::Time &stamp)
void	spinNotifyROS ()
std::string	vehVarName (const std::string &sVarName, const mvsim::VehicleBase *veh) const
Static Protected Member Functions
static void	thread_update_GUI (TThreadParams &thread_params)
Protected Attributes
ros::Time	m_base_last_cmd
	Last time we received a vel_cmd (for watchdog)
ros::Duration	m_base_watchdog_timeout
rosgraph_msgs::Clock	m_clockMsg
mvsim::World::TGUIKeyEvent	m_gui_key_events
	"focused" vehicle)
ros::NodeHandle	m_localn
std::string	m_msg2gui
ros::NodeHandle &	m_n
	published TFs
double	m_period_ms_publish_tf
	loadWorldModel()
double	m_period_ms_teleop_refresh
ros::Publisher	m_pub_clock
ros::Publisher	m_pub_map_metadata
	used for simul_map publication
ros::Publisher	m_pub_map_ros
std::vector< TPubSubPerVehicle >	m_pubsub_vehicles
ros::Time	m_sim_time
	Current simulation time.
tf2_ros::StaticTransformBroadcaster	m_static_tf_br
	For sending STATIC tf.
size_t	m_teleop_idx_veh
tf::TransformBroadcaster	m_tf_br
	Use to send data to TF.
const tf::Transform	m_tfIdentity
	Unit transform (const, created only once)
mrpt::utils::CTicTac	m_tim_publish_tf
	TF transforms & /*/odom topics (In ms)
mrpt::utils::CTicTac	m_tim_teleop_refresh
mrpt::utils::CTicTac	realtime_tictac_
double	t_old_
std::thread	thGUI_
TThreadParams	thread_params_
bool	world_init_ok_

Detailed Description

A class to wrap libmvsim as a ROS node

Definition at line 35 of file mvsim_node_core.h.

Constructor & Destructor Documentation

MVSimNode::MVSimNode ( ros::NodeHandle & n )

Constructor.

Definition at line 29 of file mvsim_node.cpp.

MVSimNode::~MVSimNode ( )

Destructor.

Definition at line 103 of file mvsim_node.cpp.

Member Function Documentation

void MVSimNode::configCallback	(	mvsim::mvsimNodeConfig &	config,
		uint32_t	level
	)

Callback function for dynamic reconfigure server

Definition at line 113 of file mvsim_node.cpp.

void MVSimNode::initPubSubs	(	TPubSubPerVehicle &	pubsubs,
		mvsim::VehicleBase *	veh
	)		`[protected]`

initPubSubs(), called from notifyROSWorldIsUpdated() Initialize all pub/subs required for each vehicle, for the specific vehicle veh

Initialize all pub/subs required for each vehicle, for the specific vehicle veh

Definition at line 326 of file mvsim_node.cpp.

void MVSimNode::loadWorldModel ( const std::string & world_xml_file )

Definition at line 80 of file mvsim_node.cpp.

void MVSimNode::notifyROSWorldIsUpdated ( ) [protected]

Publish relevant stuff whenever a new world model is loaded (grid maps, etc.)

Definition at line 288 of file mvsim_node.cpp.

void MVSimNode::onROSMsgCmdVel	(	const geometry_msgs::Twist::ConstPtr &	cmd,
		mvsim::VehicleBase *	veh
	)		`[protected]`

Definition at line 454 of file mvsim_node.cpp.

void MVSimNode::sendStaticTF	(	const std::string &	frame_id,
		const std::string &	child_frame_id,
		const tf::Transform &	tx,
		const ros::Time &	stamp
	)		`[protected]`