#include <gazebo_rsv_balance.h>

Public Member Functions
	GazeboRsvBalance ()
void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
void	Reset ()
	Called when Gazebo resets world.
	~GazeboRsvBalance ()
Protected Member Functions
virtual void	FiniChild ()
	Called by gazebo upon exiting.
virtual void	UpdateChild ()
	Gazebo step update.
Private Types
enum	{ RIGHT, LEFT }
enum	Mode { PARK = rsv_balance_msgs::SetModeRequest::PARK, TRACTOR = rsv_balance_msgs::SetModeRequest::TRACTOR, BALANCE = rsv_balance_msgs::SetModeRequest::BALANCE }
enum	OdomSource { ENCODER = 0, WORLD = 1 }
Private Member Functions
void	cmdTiltCallback (const std_msgs::Float64::ConstPtr &cmd_tilt)
	Callback to cmd_tilt.
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
	Callback to cmd_vel.
void	publishOdometry ()
	Publishes odometry and desired tfs.
void	publishWheelJointState ()
	Publishes wheel joint_states.
void	QueueThread ()
bool	resetOdom (std_srvs::Empty::Request &req)
	Service to reset odometry.
void	resetOdometry ()
	Resets odometry by adding offset to WORLD odometry, and resetting odometry values.
bool	resetOverride (std_srvs::Empty::Request &req)
	Just exposes service. Not used in simulation.
void	resetVariables ()
	Resets simulation variables.
bool	setInput (rsv_balance_msgs::SetInput::Request &req)
	Just exposes service. Not used in simulation.
bool	setMode (rsv_balance_msgs::SetMode::Request &req)
	Sets platform operating mode.
void	updateIMU ()
	Gets pitch angle values directly from Gazebo world.
void	updateOdometry ()
	Updates odometry, from Gazebo world or from encoders.
Private Attributes
bool	alive_
std::string	base_frame_id_
boost::thread	callback_queue_thread_
ros::Subscriber	cmd_tilt_subscriber_
ros::Subscriber	cmd_vel_subscriber_
std::string	command_topic_
Mode	current_mode_
double	feedback_v_
double	feedback_w_
GazeboRosPtr	gazebo_ros_
double	imu_dpitch_
double	imu_pitch_
ros::Publisher	joint_state_publisher_
std::vector< physics::JointPtr >	joints_
common::Time	last_update_time_
std::map< std::string, Mode >	mode_map_
nav_msgs::Odometry	odom_
std::string	odom_frame_id_
math::Vector3	odom_offset_pos_
math::Vector3	odom_offset_rot_
OdomSource	odom_source_
std::string	odom_topic_
ros::Publisher	odometry_publisher_
physics::ModelPtr	parent_
double	publish_diagnostics_rate_
bool	publish_odom_tf_
bool	publish_state_
double	publish_state_rate_
bool	publish_wheel_joint_
ros::CallbackQueue	queue_
ros::ServiceServer	reset_odom_server_
ros::ServiceServer	reset_override_server_
double	rot_desired_
sdf::ElementPtr	sdf_
ros::ServiceServer	set_input_server_
ros::ServiceServer	set_mode_server_
balance_control::BalanceControl	state_control_
ros::Publisher	state_publisher_
double	tilt_desired_
boost::shared_ptr < tf::TransformBroadcaster >	transform_broadcaster_
double *	u_control_
event::ConnectionPtr	update_connection_
double	update_period_
double	update_rate_
double	wheel_radius_
double	wheel_separation_
double	x_desired_

Detailed Description

Gazebo Plugin which controls the balance platform just like the real thing.

Definition at line 45 of file gazebo_rsv_balance.h.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

RIGHT
LEFT

Definition at line 47 of file gazebo_rsv_balance.h.

enum gazebo::GazeboRsvBalance::Mode [private]

Enumerator:

PARK
TRACTOR
BALANCE

Definition at line 57 of file gazebo_rsv_balance.h.

enum gazebo::GazeboRsvBalance::OdomSource [private]

Enumerator:

ENCODER
WORLD

Definition at line 52 of file gazebo_rsv_balance.h.

Constructor & Destructor Documentation

gazebo::GazeboRsvBalance::GazeboRsvBalance ( )

Definition at line 19 of file gazebo_rsv_balance.cpp.

gazebo::GazeboRsvBalance::~GazeboRsvBalance ( )

Definition at line 21 of file gazebo_rsv_balance.cpp.

Member Function Documentation

void gazebo::GazeboRsvBalance::cmdTiltCallback ( const std_msgs::Float64::ConstPtr & cmd_tilt ) [private]

Callback to cmd_tilt.

Definition at line 229 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr & cmd_msg ) [private]

Callback to cmd_vel.

Definition at line 220 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::FiniChild ( ) [protected, virtual]

Called by gazebo upon exiting.

Definition at line 436 of file gazebo_rsv_balance.cpp.

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

Definition at line 23 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::publishOdometry ( ) [private]

Publishes odometry and desired tfs.

Todo:: User configurable covariance

Definition at line 302 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::publishWheelJointState ( ) [private]

Publishes wheel joint_states.

Definition at line 340 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::QueueThread ( ) [private]

Definition at line 445 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::Reset ( )

Called when Gazebo resets world.

Definition at line 362 of file gazebo_rsv_balance.cpp.

bool gazebo::GazeboRsvBalance::resetOdom ( std_srvs::Empty::Request & req ) [private]

Service to reset odometry.

Definition at line 210 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::resetOdometry ( ) [private]

Resets odometry by adding offset to WORLD odometry, and resetting odometry values.

Todo:: Actually implement it

Definition at line 250 of file gazebo_rsv_balance.cpp.

bool gazebo::GazeboRsvBalance::resetOverride ( std_srvs::Empty::Request & req ) [private]

Just exposes service. Not used in simulation.

Definition at line 200 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::resetVariables ( ) [private]

Resets simulation variables.

Used when starting and when gazebo reset world or model

Definition at line 153 of file gazebo_rsv_balance.cpp.

bool gazebo::GazeboRsvBalance::setInput ( rsv_balance_msgs::SetInput::Request & req ) [private]

Just exposes service. Not used in simulation.

Definition at line 190 of file gazebo_rsv_balance.cpp.

bool gazebo::GazeboRsvBalance::setMode ( rsv_balance_msgs::SetMode::Request & req ) [private]

Sets platform operating mode.

Definition at line 164 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::UpdateChild ( ) [protected, virtual]

Gazebo step update.

Definition at line 378 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::updateIMU ( ) [private]

Gets pitch angle values directly from Gazebo world.

Definition at line 237 of file gazebo_rsv_balance.cpp.

void gazebo::GazeboRsvBalance::updateOdometry ( ) [private]

Updates odometry, from Gazebo world or from encoders.

Todo:: Implement encoder odometry

Definition at line 261 of file gazebo_rsv_balance.cpp.

Member Data Documentation

bool gazebo::GazeboRsvBalance::alive_ [private]

Definition at line 81 of file gazebo_rsv_balance.h.

std::string gazebo::GazeboRsvBalance::base_frame_id_ [private]

Definition at line 111 of file gazebo_rsv_balance.h.

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

Definition at line 83 of file gazebo_rsv_balance.h.

ros::Subscriber gazebo::GazeboRsvBalance::cmd_tilt_subscriber_ [private]

Definition at line 93 of file gazebo_rsv_balance.h.

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

Definition at line 92 of file gazebo_rsv_balance.h.

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

Definition at line 87 of file gazebo_rsv_balance.h.

Mode gazebo::GazeboRsvBalance::current_mode_ [private]

Definition at line 122 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::feedback_v_ [private]

Definition at line 131 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::feedback_w_ [private]

Definition at line 132 of file gazebo_rsv_balance.h.

GazeboRosPtr gazebo::GazeboRsvBalance::gazebo_ros_ [private]

Definition at line 75 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::imu_dpitch_ [private]

Definition at line 130 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::imu_pitch_ [private]

Definition at line 129 of file gazebo_rsv_balance.h.

ros::Publisher gazebo::GazeboRsvBalance::joint_state_publisher_ [private]

Definition at line 91 of file gazebo_rsv_balance.h.

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

Definition at line 125 of file gazebo_rsv_balance.h.

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

Definition at line 147 of file gazebo_rsv_balance.h.

std::map<std::string, Mode> gazebo::GazeboRsvBalance::mode_map_ [private]

Definition at line 121 of file gazebo_rsv_balance.h.

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

Definition at line 137 of file gazebo_rsv_balance.h.

std::string gazebo::GazeboRsvBalance::odom_frame_id_ [private]

Definition at line 112 of file gazebo_rsv_balance.h.

math::Vector3 gazebo::GazeboRsvBalance::odom_offset_pos_ [private]

Definition at line 133 of file gazebo_rsv_balance.h.

math::Vector3 gazebo::GazeboRsvBalance::odom_offset_rot_ [private]

Definition at line 134 of file gazebo_rsv_balance.h.

OdomSource gazebo::GazeboRsvBalance::odom_source_ [private]

Definition at line 113 of file gazebo_rsv_balance.h.

std::string gazebo::GazeboRsvBalance::odom_topic_ [private]

Definition at line 88 of file gazebo_rsv_balance.h.

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

Definition at line 89 of file gazebo_rsv_balance.h.

physics::ModelPtr gazebo::GazeboRsvBalance::parent_ [private]

Definition at line 76 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::publish_diagnostics_rate_ [private]

Definition at line 116 of file gazebo_rsv_balance.h.

bool gazebo::GazeboRsvBalance::publish_odom_tf_ [private]

Definition at line 109 of file gazebo_rsv_balance.h.

bool gazebo::GazeboRsvBalance::publish_state_ [private]

Definition at line 114 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::publish_state_rate_ [private]

Definition at line 115 of file gazebo_rsv_balance.h.

bool gazebo::GazeboRsvBalance::publish_wheel_joint_ [private]

Definition at line 110 of file gazebo_rsv_balance.h.

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

Definition at line 82 of file gazebo_rsv_balance.h.

ros::ServiceServer gazebo::GazeboRsvBalance::reset_odom_server_ [private]

Definition at line 97 of file gazebo_rsv_balance.h.

ros::ServiceServer gazebo::GazeboRsvBalance::reset_override_server_ [private]

Definition at line 96 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::rot_desired_ [private]

Definition at line 127 of file gazebo_rsv_balance.h.

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

Definition at line 77 of file gazebo_rsv_balance.h.

ros::ServiceServer gazebo::GazeboRsvBalance::set_input_server_ [private]

Definition at line 95 of file gazebo_rsv_balance.h.

ros::ServiceServer gazebo::GazeboRsvBalance::set_mode_server_ [private]

Definition at line 94 of file gazebo_rsv_balance.h.

balance_control::BalanceControl gazebo::GazeboRsvBalance::state_control_ [private]

Definition at line 148 of file gazebo_rsv_balance.h.

ros::Publisher gazebo::GazeboRsvBalance::state_publisher_ [private]

Definition at line 90 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::tilt_desired_ [private]

Definition at line 128 of file gazebo_rsv_balance.h.

boost::shared_ptr<tf::TransformBroadcaster> gazebo::GazeboRsvBalance::transform_broadcaster_ [private]

Definition at line 98 of file gazebo_rsv_balance.h.

double* gazebo::GazeboRsvBalance::u_control_ [private]

Definition at line 149 of file gazebo_rsv_balance.h.

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

Definition at line 78 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::update_period_ [private]

Definition at line 146 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::update_rate_ [private]

Definition at line 145 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::wheel_radius_ [private]

Definition at line 119 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::wheel_separation_ [private]

Definition at line 118 of file gazebo_rsv_balance.h.

double gazebo::GazeboRsvBalance::x_desired_ [private]

Definition at line 126 of file gazebo_rsv_balance.h.

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

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation