uuv_simulator_ros::FinROSPlugin Class Reference

#include <FinROSPlugin.hh>

Inheritance diagram for uuv_simulator_ros::FinROSPlugin:

Public Member Functions
	FinROSPlugin ()
	Constrcutor. More...
bool	GetLiftDragParams (uuv_gazebo_ros_plugins_msgs::GetListParam::Request &_req, uuv_gazebo_ros_plugins_msgs::GetListParam::Response &_res)
	Return the list of paramaters of the lift and drag model. More...
gazebo::common::Time	GetRosPublishPeriod ()
	Return the ROS publish period. More...
virtual void	Init ()
	Initialize Module. More...
void	Load (gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Load module and read parameters from SDF. More...
virtual void	Reset ()
	Reset Module. More...
void	RosPublishStates ()
	Publish state via ROS. More...
void	SetReference (const uuv_gazebo_ros_plugins_msgs::FloatStamped::ConstPtr &_msg)
	Set new set point. More...
void	SetRosPublishRate (double _hz)
	Set the ROS publish frequency (Hz). More...
	~FinROSPlugin ()
	Destructor. More...
Public Member Functions inherited from gazebo::FinPlugin
	FinPlugin ()
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void	OnUpdate (const common::UpdateInfo &_info)
virtual	~FinPlugin ()

Private Attributes
gazebo::common::Time	lastRosPublishTime
	Last time we published a message via ROS. More...
ros::Publisher	pubFinForce
	Publisher for current actual thrust. More...
ros::Publisher	pubState
	Publisher for current state. More...
boost::scoped_ptr< ros::NodeHandle >	rosNode
	Pointer to this ROS node's handle. More...
gazebo::event::ConnectionPtr	rosPublishConnection
	Connection for callbacks on update world. More...
gazebo::common::Time	rosPublishPeriod
	Period after which we should publish a message via ROS. More...
std::map< std::string, ros::ServiceServer >	services
	Map of services. More...
ros::Subscriber	subReference
	Subscriber reacting to new reference set points. More...

Additional Inherited Members
Protected Member Functions inherited from gazebo::FinPlugin
void	UpdateCurrentVelocity (ConstVector3dPtr &_msg)
void	UpdateInput (ConstDoublePtr &_msg)
Protected Attributes inherited from gazebo::FinPlugin
double	angle
transport::PublisherPtr	anglePublisher
common::Time	angleStamp
transport::SubscriberPtr	commandSubscriber
transport::SubscriberPtr	currentSubscriber
ignition::math::Vector3d	currentVelocity
std::shared_ptr< Dynamics >	dynamics
ignition::math::Vector3d	finForce
int	finID
double	inputCommand
physics::JointPtr	joint
std::shared_ptr< LiftDrag >	liftdrag
physics::LinkPtr	link
transport::NodePtr	node
std::string	topicPrefix
event::ConnectionPtr	updateConnection

Detailed Description

Definition at line 31 of file FinROSPlugin.hh.

Constructor & Destructor Documentation

uuv_simulator_ros::FinROSPlugin::FinROSPlugin

(

)

Constrcutor.

Definition at line 28 of file FinROSPlugin.cc.

uuv_simulator_ros::FinROSPlugin::~FinROSPlugin

(

)

Destructor.

Definition at line 35 of file FinROSPlugin.cc.

Member Function Documentation

bool uuv_simulator_ros::FinROSPlugin::GetLiftDragParams	(	uuv_gazebo_ros_plugins_msgs::GetListParam::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetListParam::Response &	_res
	)

Return the list of paramaters of the lift and drag model.

Definition at line 174 of file FinROSPlugin.cc.

gazebo::common::Time uuv_simulator_ros::FinROSPlugin::GetRosPublishPeriod

(

)

Return the ROS publish period.

Definition at line 60 of file FinROSPlugin.cc.

void uuv_simulator_ros::FinROSPlugin::Init ( )

virtual

Initialize Module.

Reimplemented from gazebo::FinPlugin.

Definition at line 75 of file FinROSPlugin.cc.

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

Load module and read parameters from SDF.

Definition at line 87 of file FinROSPlugin.cc.

void uuv_simulator_ros::FinROSPlugin::Reset ( )

virtual

Reset Module.

Definition at line 81 of file FinROSPlugin.cc.

void uuv_simulator_ros::FinROSPlugin::RosPublishStates

(

)

Publish state via ROS.

Definition at line 146 of file FinROSPlugin.cc.

void uuv_simulator_ros::FinROSPlugin::SetReference

(

const uuv_gazebo_ros_plugins_msgs::FloatStamped::ConstPtr &

_msg

)

Set new set point.

Definition at line 47 of file FinROSPlugin.cc.

void uuv_simulator_ros::FinROSPlugin::SetRosPublishRate

(

double

_hz

)

Set the ROS publish frequency (Hz).

Definition at line 66 of file FinROSPlugin.cc.

Member Data Documentation

gazebo::common::Time uuv_simulator_ros::FinROSPlugin::lastRosPublishTime

private

Last time we published a message via ROS.

Definition at line 88 of file FinROSPlugin.hh.

ros::Publisher uuv_simulator_ros::FinROSPlugin::pubFinForce

private

Publisher for current actual thrust.

Definition at line 76 of file FinROSPlugin.hh.

ros::Publisher uuv_simulator_ros::FinROSPlugin::pubState

private

Publisher for current state.

Definition at line 73 of file FinROSPlugin.hh.

boost::scoped_ptr<ros::NodeHandle> uuv_simulator_ros::FinROSPlugin::rosNode

private

Pointer to this ROS node's handle.

Definition at line 67 of file FinROSPlugin.hh.

gazebo::event::ConnectionPtr uuv_simulator_ros::FinROSPlugin::rosPublishConnection

private

Connection for callbacks on update world.

Definition at line 79 of file FinROSPlugin.hh.

gazebo::common::Time uuv_simulator_ros::FinROSPlugin::rosPublishPeriod

private

Period after which we should publish a message via ROS.

Definition at line 82 of file FinROSPlugin.hh.

std::map<std::string, ros::ServiceServer> uuv_simulator_ros::FinROSPlugin::services

private

Map of services.

Definition at line 85 of file FinROSPlugin.hh.

ros::Subscriber uuv_simulator_ros::FinROSPlugin::subReference

private

Subscriber reacting to new reference set points.

Definition at line 70 of file FinROSPlugin.hh.

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

• FinROSPlugin.hh
• FinROSPlugin.cc