Public Member Functions | Static Public Attributes | Protected Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
gazebo::MobilityBasePlugin Class Reference

#include <MobilityBasePlugin.h>

Inheritance diagram for gazebo::MobilityBasePlugin:
Inheritance graph
[legend]

Public Member Functions

void Load (physics::ModelPtr _parent, sdf::ElementPtr sdf)
 
 MobilityBasePlugin ()
 
 ~MobilityBasePlugin ()
 

Static Public Attributes

static _CONST double ACCEL_INSTANT_VXY = 0.5
 
static _CONST double ACCEL_INSTANT_WZ = 0.5 * M_PI
 
static _CONST double ACCEL_LIMIT_FAST_VXY = 4.0
 
static _CONST double ACCEL_LIMIT_FAST_WZ = 3.0 * M_PI
 
static _CONST double ACCEL_LIMIT_SLOW_VXY = 1.0
 
static _CONST double ACCEL_LIMIT_SLOW_WZ = 1.0 * M_PI
 
static _CONST double CMD_TIMEOUT = 0.2
 
static _CONST double GAIN_X = 1.0
 
static _CONST double GAIN_Y = 1.0
 
static _CONST double GAIN_Z = 1.0
 
static _CONST unsigned int NUM_ROLLERS = 12
 
static _CONST unsigned int NUM_WHEELS = 4
 
static _CONST double PUB_FREQ_BUMPERS = 10.0
 
static _CONST double PUB_FREQ_IMU = 100.0
 
static _CONST double PUB_FREQ_JOYSTICK = 50.0
 
static _CONST double PUB_FREQ_MODE = 2.0
 
static _CONST double PUB_FREQ_VEHICLE = 250.0
 
static _CONST double RADIANS_PER_SECOND_MAX = 14000 * (2.0 * M_PI / (200 * 48.5 / 2))
 
static _CONST double TORQUE_MAX_ALARM = 5.0
 
static _CONST double TORQUE_MAX_GLOBAL = 50.0
 
static _CONST double WHEEL_BASE_LENGTH = 0.505466
 
static _CONST double WHEEL_BASE_WIDTH = 0.680466
 
static _CONST double WHEEL_RADIUS = 8.0 / 2 * 0.0254
 

Protected Member Functions

virtual void FiniChild ()
 
virtual void UpdateChild (const common::UpdateInfo &_info)
 

Private Member Functions

void omniFromCartesian (double vx, double vy, double wz, double w[4]) const
 
void omniToCartesian (const double w[4], double *vx, double *vy, double *wz) const
 
void publishMode (const ros::Time &stamp)
 
void recvCmdVel (const geometry_msgs::Twist::ConstPtr &msg)
 
void recvCmdVelRaw (const geometry_msgs::Twist::ConstPtr &msg)
 
void recvSuppressWireless (const std_msgs::Empty::ConstPtr &msg)
 
void spin ()
 

Static Private Member Functions

static double limitDelta (double input, double previous, double limit)
 
static bool omniSaturate (double limit, double speeds[4])
 

Private Attributes

std::string child_frame_id_
 
math::Vector3 cmd_vel_
 
math::Vector3 cmd_vel_history_
 
boost::mutex cmd_vel_mutex_
 
math::Vector3 cmd_vel_raw_
 
boost::mutex cmd_vel_raw_mutex_
 
common::Time cmd_vel_raw_stamp_
 
common::Time cmd_vel_stamp_
 
bool fast_
 
bool first_update_
 
const char * frame_id_
 
physics::JointPtr joint_rollers_ [NUM_WHEELS][NUM_ROLLERS]
 
sensor_msgs::JointState joint_state_rollers_
 
sensor_msgs::JointState joint_state_wheels_
 
physics::JointPtr joint_wheels_ [NUM_WHEELS]
 
physics::LinkPtr link_base_footprint_
 
mobility_base_core_msgs::Mode::_mode_type mode_
 
physics::ModelPtr model_
 
ros::NodeHandle * nh_
 
double omni_a_
 
double omni_b_
 
double omni_c_
 
std::string parent_frame_id_
 
PubMultiQueue pmq_
 
PubQueue< mobility_base_core_msgs::BumperState >::Ptr pmq_bumper_states_
 
PubQueue< sensor_msgs::Imu >::Ptr pmq_imu_data_
 
PubQueue< std_msgs::Bool >::Ptr pmq_imu_is_calibrated_
 
PubQueue< sensor_msgs::MagneticField >::Ptr pmq_imu_mag_
 
PubQueue< sensor_msgs::JointState >::Ptr pmq_joint_states_
 
PubQueue< geometry_msgs::TwistStamped >::Ptr pmq_joystick_
 
PubQueue< mobility_base_core_msgs::Mode >::Ptr pmq_mode_
 
PubQueue< geometry_msgs::TwistStamped >::Ptr pmq_twist_
 
PubQueue< geometry_msgs::WrenchStamped >::Ptr pmq_wrench_
 
common::Time previous_stamp_
 
ros::Publisher pub_bumper_states_
 
ros::Publisher pub_imu_data_
 
ros::Publisher pub_imu_is_calibrated_
 
ros::Publisher pub_imu_mag_
 
ros::Publisher pub_joint_states_
 
ros::Publisher pub_joystick_
 
ros::Publisher pub_mode_
 
ros::Publisher pub_twist_
 
ros::Publisher pub_wrench_
 
boost::thread * spinner_thread_
 
common::Time stamp_bumpers_
 
common::Time stamp_imu_
 
common::Time stamp_joystick_
 
common::Time stamp_mode_
 
common::Time stamp_vehicle_
 
ros::Subscriber sub_cmd_vel_
 
ros::Subscriber sub_cmd_vel_raw_
 
tf::TransformBroadcaster * tf_broadcaster_
 
event::ConnectionPtr update_connection_
 
physics::WorldPtr world_
 

Detailed Description

Definition at line 77 of file MobilityBasePlugin.h.

Constructor & Destructor Documentation

gazebo::MobilityBasePlugin::MobilityBasePlugin ( )

Definition at line 40 of file MobilityBasePlugin.cpp.

gazebo::MobilityBasePlugin::~MobilityBasePlugin ( )

Definition at line 49 of file MobilityBasePlugin.cpp.

Member Function Documentation

void gazebo::MobilityBasePlugin::FiniChild ( )
protectedvirtual

Definition at line 58 of file MobilityBasePlugin.cpp.

static double gazebo::MobilityBasePlugin::limitDelta ( double  input,
double  previous,
double  limit 
)
inlinestaticprivate

Definition at line 224 of file MobilityBasePlugin.h.

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

Definition at line 84 of file MobilityBasePlugin.cpp.

void gazebo::MobilityBasePlugin::omniFromCartesian ( double  vx,
double  vy,
double  wz,
double  w[4] 
) const
private

Definition at line 64 of file MobilityBasePlugin.cpp.

static bool gazebo::MobilityBasePlugin::omniSaturate ( double  limit,
double  speeds[4] 
)
inlinestaticprivate

Definition at line 203 of file MobilityBasePlugin.h.

void gazebo::MobilityBasePlugin::omniToCartesian ( const double  w[4],
double *  vx,
double *  vy,
double *  wz 
) const
private

Definition at line 78 of file MobilityBasePlugin.cpp.

void gazebo::MobilityBasePlugin::publishMode ( const ros::Time &  stamp)
private

Definition at line 455 of file MobilityBasePlugin.cpp.

void gazebo::MobilityBasePlugin::recvCmdVel ( const geometry_msgs::Twist::ConstPtr &  msg)
private

Definition at line 437 of file MobilityBasePlugin.cpp.

void gazebo::MobilityBasePlugin::recvCmdVelRaw ( const geometry_msgs::Twist::ConstPtr &  msg)
private

Definition at line 446 of file MobilityBasePlugin.cpp.

void gazebo::MobilityBasePlugin::recvSuppressWireless ( const std_msgs::Empty::ConstPtr &  msg)
private
void gazebo::MobilityBasePlugin::spin ( )
private

Definition at line 464 of file MobilityBasePlugin.cpp.

void gazebo::MobilityBasePlugin::UpdateChild ( const common::UpdateInfo &  _info)
protectedvirtual

Definition at line 199 of file MobilityBasePlugin.cpp.

Member Data Documentation

_CONST double gazebo::MobilityBasePlugin::ACCEL_INSTANT_VXY = 0.5
static

Definition at line 94 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::ACCEL_INSTANT_WZ = 0.5 * M_PI
static

Definition at line 95 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::ACCEL_LIMIT_FAST_VXY = 4.0
static

Definition at line 90 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::ACCEL_LIMIT_FAST_WZ = 3.0 * M_PI
static

Definition at line 91 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::ACCEL_LIMIT_SLOW_VXY = 1.0
static

Definition at line 92 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::ACCEL_LIMIT_SLOW_WZ = 1.0 * M_PI
static

Definition at line 93 of file MobilityBasePlugin.h.

std::string gazebo::MobilityBasePlugin::child_frame_id_
private

Definition at line 198 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::CMD_TIMEOUT = 0.2
static

Definition at line 89 of file MobilityBasePlugin.h.

math::Vector3 gazebo::MobilityBasePlugin::cmd_vel_
private

Definition at line 134 of file MobilityBasePlugin.h.

math::Vector3 gazebo::MobilityBasePlugin::cmd_vel_history_
private

Definition at line 149 of file MobilityBasePlugin.h.

boost::mutex gazebo::MobilityBasePlugin::cmd_vel_mutex_
private

Definition at line 136 of file MobilityBasePlugin.h.

math::Vector3 gazebo::MobilityBasePlugin::cmd_vel_raw_
private

Definition at line 139 of file MobilityBasePlugin.h.

boost::mutex gazebo::MobilityBasePlugin::cmd_vel_raw_mutex_
private

Definition at line 141 of file MobilityBasePlugin.h.

common::Time gazebo::MobilityBasePlugin::cmd_vel_raw_stamp_
private

Definition at line 140 of file MobilityBasePlugin.h.

common::Time gazebo::MobilityBasePlugin::cmd_vel_stamp_
private

Definition at line 135 of file MobilityBasePlugin.h.

bool gazebo::MobilityBasePlugin::fast_
private

Definition at line 196 of file MobilityBasePlugin.h.

bool gazebo::MobilityBasePlugin::first_update_
private

Definition at line 131 of file MobilityBasePlugin.h.

const char* gazebo::MobilityBasePlugin::frame_id_
private

Definition at line 193 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::GAIN_X = 1.0
static

Definition at line 105 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::GAIN_Y = 1.0
static

Definition at line 106 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::GAIN_Z = 1.0
static

Definition at line 107 of file MobilityBasePlugin.h.

physics::JointPtr gazebo::MobilityBasePlugin::joint_rollers_[NUM_WHEELS][NUM_ROLLERS]
private

Definition at line 128 of file MobilityBasePlugin.h.

sensor_msgs::JointState gazebo::MobilityBasePlugin::joint_state_rollers_
private

Definition at line 156 of file MobilityBasePlugin.h.

sensor_msgs::JointState gazebo::MobilityBasePlugin::joint_state_wheels_
private

Definition at line 155 of file MobilityBasePlugin.h.

physics::JointPtr gazebo::MobilityBasePlugin::joint_wheels_[NUM_WHEELS]
private

Definition at line 127 of file MobilityBasePlugin.h.

physics::LinkPtr gazebo::MobilityBasePlugin::link_base_footprint_
private

Definition at line 129 of file MobilityBasePlugin.h.

mobility_base_core_msgs::Mode::_mode_type gazebo::MobilityBasePlugin::mode_
private

Definition at line 150 of file MobilityBasePlugin.h.

physics::ModelPtr gazebo::MobilityBasePlugin::model_
private

Definition at line 125 of file MobilityBasePlugin.h.

ros::NodeHandle* gazebo::MobilityBasePlugin::nh_
private

Definition at line 153 of file MobilityBasePlugin.h.

_CONST unsigned int gazebo::MobilityBasePlugin::NUM_ROLLERS = 12
static

Definition at line 84 of file MobilityBasePlugin.h.

_CONST unsigned int gazebo::MobilityBasePlugin::NUM_WHEELS = 4
static

Definition at line 83 of file MobilityBasePlugin.h.

double gazebo::MobilityBasePlugin::omni_a_
private

Definition at line 190 of file MobilityBasePlugin.h.

double gazebo::MobilityBasePlugin::omni_b_
private

Definition at line 191 of file MobilityBasePlugin.h.

double gazebo::MobilityBasePlugin::omni_c_
private

Definition at line 192 of file MobilityBasePlugin.h.

std::string gazebo::MobilityBasePlugin::parent_frame_id_
private

Definition at line 197 of file MobilityBasePlugin.h.

PubMultiQueue gazebo::MobilityBasePlugin::pmq_
private

Definition at line 178 of file MobilityBasePlugin.h.

PubQueue<mobility_base_core_msgs::BumperState>::Ptr gazebo::MobilityBasePlugin::pmq_bumper_states_
private

Definition at line 186 of file MobilityBasePlugin.h.

PubQueue<sensor_msgs::Imu>::Ptr gazebo::MobilityBasePlugin::pmq_imu_data_
private

Definition at line 179 of file MobilityBasePlugin.h.

PubQueue<std_msgs::Bool>::Ptr gazebo::MobilityBasePlugin::pmq_imu_is_calibrated_
private

Definition at line 180 of file MobilityBasePlugin.h.

PubQueue<sensor_msgs::MagneticField>::Ptr gazebo::MobilityBasePlugin::pmq_imu_mag_
private

Definition at line 181 of file MobilityBasePlugin.h.

PubQueue<sensor_msgs::JointState>::Ptr gazebo::MobilityBasePlugin::pmq_joint_states_
private

Definition at line 185 of file MobilityBasePlugin.h.

PubQueue<geometry_msgs::TwistStamped>::Ptr gazebo::MobilityBasePlugin::pmq_joystick_
private

Definition at line 183 of file MobilityBasePlugin.h.

PubQueue<mobility_base_core_msgs::Mode>::Ptr gazebo::MobilityBasePlugin::pmq_mode_
private

Definition at line 187 of file MobilityBasePlugin.h.

PubQueue<geometry_msgs::TwistStamped>::Ptr gazebo::MobilityBasePlugin::pmq_twist_
private

Definition at line 182 of file MobilityBasePlugin.h.

PubQueue<geometry_msgs::WrenchStamped>::Ptr gazebo::MobilityBasePlugin::pmq_wrench_
private

Definition at line 184 of file MobilityBasePlugin.h.

common::Time gazebo::MobilityBasePlugin::previous_stamp_
private

Definition at line 130 of file MobilityBasePlugin.h.

ros::Publisher gazebo::MobilityBasePlugin::pub_bumper_states_
private

Definition at line 174 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::PUB_FREQ_BUMPERS = 10.0
static

Definition at line 102 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::PUB_FREQ_IMU = 100.0
static

Definition at line 100 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::PUB_FREQ_JOYSTICK = 50.0
static

Definition at line 101 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::PUB_FREQ_MODE = 2.0
static

Definition at line 103 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::PUB_FREQ_VEHICLE = 250.0
static

Definition at line 99 of file MobilityBasePlugin.h.

ros::Publisher gazebo::MobilityBasePlugin::pub_imu_data_
private

Definition at line 167 of file MobilityBasePlugin.h.

ros::Publisher gazebo::MobilityBasePlugin::pub_imu_is_calibrated_
private

Definition at line 168 of file MobilityBasePlugin.h.

ros::Publisher gazebo::MobilityBasePlugin::pub_imu_mag_
private

Definition at line 169 of file MobilityBasePlugin.h.

ros::Publisher gazebo::MobilityBasePlugin::pub_joint_states_
private

Definition at line 173 of file MobilityBasePlugin.h.

ros::Publisher gazebo::MobilityBasePlugin::pub_joystick_
private

Definition at line 171 of file MobilityBasePlugin.h.

ros::Publisher gazebo::MobilityBasePlugin::pub_mode_
private

Definition at line 175 of file MobilityBasePlugin.h.

ros::Publisher gazebo::MobilityBasePlugin::pub_twist_
private

Definition at line 170 of file MobilityBasePlugin.h.

ros::Publisher gazebo::MobilityBasePlugin::pub_wrench_
private

Definition at line 172 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::RADIANS_PER_SECOND_MAX = 14000 * (2.0 * M_PI / (200 * 48.5 / 2))
static

Definition at line 88 of file MobilityBasePlugin.h.

boost::thread* gazebo::MobilityBasePlugin::spinner_thread_
private

Definition at line 160 of file MobilityBasePlugin.h.

common::Time gazebo::MobilityBasePlugin::stamp_bumpers_
private

Definition at line 147 of file MobilityBasePlugin.h.

common::Time gazebo::MobilityBasePlugin::stamp_imu_
private

Definition at line 145 of file MobilityBasePlugin.h.

common::Time gazebo::MobilityBasePlugin::stamp_joystick_
private

Definition at line 146 of file MobilityBasePlugin.h.

common::Time gazebo::MobilityBasePlugin::stamp_mode_
private

Definition at line 148 of file MobilityBasePlugin.h.

common::Time gazebo::MobilityBasePlugin::stamp_vehicle_
private

Definition at line 144 of file MobilityBasePlugin.h.

ros::Subscriber gazebo::MobilityBasePlugin::sub_cmd_vel_
private

Definition at line 163 of file MobilityBasePlugin.h.

ros::Subscriber gazebo::MobilityBasePlugin::sub_cmd_vel_raw_
private

Definition at line 164 of file MobilityBasePlugin.h.

tf::TransformBroadcaster* gazebo::MobilityBasePlugin::tf_broadcaster_
private

Definition at line 154 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::TORQUE_MAX_ALARM = 5.0
static

Definition at line 97 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::TORQUE_MAX_GLOBAL = 50.0
static

Definition at line 96 of file MobilityBasePlugin.h.

event::ConnectionPtr gazebo::MobilityBasePlugin::update_connection_
private

Definition at line 124 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::WHEEL_BASE_LENGTH = 0.505466
static

Definition at line 87 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::WHEEL_BASE_WIDTH = 0.680466
static

Definition at line 86 of file MobilityBasePlugin.h.

_CONST double gazebo::MobilityBasePlugin::WHEEL_RADIUS = 8.0 / 2 * 0.0254
static

Definition at line 85 of file MobilityBasePlugin.h.

physics::WorldPtr gazebo::MobilityBasePlugin::world_
private

Definition at line 126 of file MobilityBasePlugin.h.

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

mobility_base_gazebo_plugins
Author(s): Dataspeed Inc.
autogenerated on Sun Oct 6 2019 03:32:29