#include <gazebo_rsv_balance.h>

Inheritance diagram for gazebo::GazeboRsvBalance:

Public Member Functions
	GazeboRsvBalance ()

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

void	Reset ()
	Called when Gazebo resets world. More...

	~GazeboRsvBalance ()

Protected Member Functions
virtual void	FiniChild ()
	Called by gazebo upon exiting. More...

virtual void	UpdateChild ()
	Gazebo step update. More...

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. More...

void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
	Callback to cmd_vel. More...

void	publishOdometry ()
	Publishes odometry and desired tfs. More...

void	publishWheelJointState ()
	Publishes wheel joint_states. More...

void	QueueThread ()

bool	resetOdom (std_srvs::Empty::Request &req)
	Service to reset odometry. More...

void	resetOdometry ()
	Resets odometry by adding offset to WORLD odometry, and resetting odometry values. More...

bool	resetOverride (std_srvs::Empty::Request &req)
	Just exposes service. Not used in simulation. More...

void	resetVariables ()
	Resets simulation variables. More...

bool	setInput (rsv_balance_msgs::SetInput::Request &req)
	Just exposes service. Not used in simulation. More...

bool	setMode (rsv_balance_msgs::SetMode::Request &req)
	Sets platform operating mode. More...

void	updateIMU ()
	Gets pitch angle values directly from Gazebo world. More...

void	updateOdometry ()
	Updates odometry, from Gazebo world or from encoders. More...

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 ( )

protectedvirtual

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 ( )

protectedvirtual

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