#include <ThrusterROSPlugin.hh>

Inheritance diagram for uuv_simulator_ros::ThrusterROSPlugin:

Public Member Functions
bool	GetDynamicStateEfficiency (uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Request &_req, uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Response &_res)
	Get the dynamic state efficiency factor. More...

gazebo::common::Time	GetRosPublishPeriod ()
	Return the ROS publish period. More...

bool	GetThrusterConversionFcn (uuv_gazebo_ros_plugins_msgs::GetThrusterConversionFcn::Request &_req, uuv_gazebo_ros_plugins_msgs::GetThrusterConversionFcn::Response &_res)
	Get thruster conversion function parameters. More...

bool	GetThrusterState (uuv_gazebo_ros_plugins_msgs::GetThrusterState::Request &_req, uuv_gazebo_ros_plugins_msgs::GetThrusterState::Response &_res)
	Get thruster state. More...

bool	GetThrustForceEfficiency (uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Request &_req, uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Response &_res)
	Get the thrust efficiency factor. 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 thruster state via ROS. More...

bool	SetDynamicStateEfficiency (uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Request &_req, uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Response &_res)
	Set the dynamic state efficiency factor. More...

void	SetRosPublishRate (double _hz)
	Set the ROS publish frequency (Hz). More...

bool	SetThrusterState (uuv_gazebo_ros_plugins_msgs::SetThrusterState::Request &_req, uuv_gazebo_ros_plugins_msgs::SetThrusterState::Response &_res)
	Turn thruster on/off. More...

bool	SetThrustForceEfficiency (uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Request &_req, uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Response &_res)
	Set the thrust efficiency factor. More...

void	SetThrustReference (const uuv_gazebo_ros_plugins_msgs::FloatStamped::ConstPtr &_msg)
	Set new set point (desired thrust [N]) for thruster. More...

	ThrusterROSPlugin ()
	Constrcutor. More...

	~ThrusterROSPlugin ()
	Destructor. More...

Public Member Functions inherited from gazebo::ThrusterPlugin
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)

	ThrusterPlugin ()

void	Update (const common::UpdateInfo &_info)

virtual	~ThrusterPlugin ()

Private Attributes
gazebo::common::Time	lastRosPublishTime
	Last time we published a message via ROS. More...

ros::Publisher	pubDynamicStateEff
	Publisher for the dynamic state efficiency. More...

ros::Publisher	pubThrust
	Publisher for current actual thrust. More...

ros::Publisher	pubThrusterState
	Publisher for the thruster state. More...

ros::Publisher	pubThrustForceEff
	Publisher for the thrust force efficiency. More...

ros::Publisher	pubThrustWrench
	Publisher for current actual thrust as wrench. 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 thruster services. More...

ros::Subscriber	subThrustReference
	Subscriber reacting to new reference thrust set points. More...

Additional Inherited Members
Protected Member Functions inherited from gazebo::ThrusterPlugin
void	UpdateInput (ConstDoublePtr &_msg)

Protected Attributes inherited from gazebo::ThrusterPlugin
double	clampMax

double	clampMin

transport::SubscriberPtr	commandSubscriber

std::shared_ptr< ConversionFunction >	conversionFunction

double	gain

double	inputCommand

bool	isOn

physics::JointPtr	joint

transport::NodePtr	node

double	propellerEfficiency

double	thrustEfficiency

ignition::math::Vector3d	thrusterAxis

std::shared_ptr< Dynamics >	thrusterDynamics

int	thrusterID

physics::LinkPtr	thrusterLink

double	thrustForce

common::Time	thrustForceStamp

double	thrustMax

double	thrustMin

transport::PublisherPtr	thrustTopicPublisher

std::string	topicPrefix

event::ConnectionPtr	updateConnection

Detailed Description

Definition at line 41 of file ThrusterROSPlugin.hh.

Constructor & Destructor Documentation

uuv_simulator_ros::ThrusterROSPlugin::ThrusterROSPlugin ( )

Constrcutor.

Definition at line 30 of file ThrusterROSPlugin.cc.

uuv_simulator_ros::ThrusterROSPlugin::~ThrusterROSPlugin ( )

Destructor.

Definition at line 37 of file ThrusterROSPlugin.cc.

Member Function Documentation

bool uuv_simulator_ros::ThrusterROSPlugin::GetDynamicStateEfficiency	(	uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Response &	_res
	)

Get the dynamic state efficiency factor.

Definition at line 275 of file ThrusterROSPlugin.cc.

gazebo::common::Time uuv_simulator_ros::ThrusterROSPlugin::GetRosPublishPeriod ( )

Return the ROS publish period.

Definition at line 63 of file ThrusterROSPlugin.cc.

bool uuv_simulator_ros::ThrusterROSPlugin::GetThrusterConversionFcn	(	uuv_gazebo_ros_plugins_msgs::GetThrusterConversionFcn::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetThrusterConversionFcn::Response &	_res
	)

Get thruster conversion function parameters.

Definition at line 305 of file ThrusterROSPlugin.cc.

bool uuv_simulator_ros::ThrusterROSPlugin::GetThrusterState	(	uuv_gazebo_ros_plugins_msgs::GetThrusterState::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetThrusterState::Response &	_res
	)

Get thruster state.

Definition at line 296 of file ThrusterROSPlugin.cc.

bool uuv_simulator_ros::ThrusterROSPlugin::GetThrustForceEfficiency	(	uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Response &	_res
	)

Get the thrust efficiency factor.

Definition at line 246 of file ThrusterROSPlugin.cc.

void uuv_simulator_ros::ThrusterROSPlugin::Init ( )

virtual

Initialize Module.

Reimplemented from gazebo::ThrusterPlugin.

Definition at line 78 of file ThrusterROSPlugin.cc.

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

Load module and read parameters from SDF.

Definition at line 90 of file ThrusterROSPlugin.cc.

void uuv_simulator_ros::ThrusterROSPlugin::Reset ( )

virtual

Reset Module.

Reimplemented from gazebo::ThrusterPlugin.

Definition at line 84 of file ThrusterROSPlugin.cc.

void uuv_simulator_ros::ThrusterROSPlugin::RosPublishStates ( )

Publish thruster state via ROS.

Definition at line 183 of file ThrusterROSPlugin.cc.

bool uuv_simulator_ros::ThrusterROSPlugin::SetDynamicStateEfficiency	(	uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Response &	_res
	)

Set the dynamic state efficiency factor.

Definition at line 255 of file ThrusterROSPlugin.cc.

void uuv_simulator_ros::ThrusterROSPlugin::SetRosPublishRate ( double _hz )

Set the ROS publish frequency (Hz).

Definition at line 69 of file ThrusterROSPlugin.cc.

bool uuv_simulator_ros::ThrusterROSPlugin::SetThrusterState	(	uuv_gazebo_ros_plugins_msgs::SetThrusterState::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetThrusterState::Response &	_res
	)

Turn thruster on/off.

Definition at line 284 of file ThrusterROSPlugin.cc.

bool uuv_simulator_ros::ThrusterROSPlugin::SetThrustForceEfficiency	(	uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Response &	_res
	)

Set the thrust efficiency factor.

Definition at line 226 of file ThrusterROSPlugin.cc.

void uuv_simulator_ros::ThrusterROSPlugin::SetThrustReference ( const uuv_gazebo_ros_plugins_msgs::FloatStamped::ConstPtr & _msg )

Set new set point (desired thrust [N]) for thruster.

Definition at line 50 of file ThrusterROSPlugin.cc.

Member Data Documentation

gazebo::common::Time uuv_simulator_ros::ThrusterROSPlugin::lastRosPublishTime

private

Last time we published a message via ROS.

Definition at line 137 of file ThrusterROSPlugin.hh.

ros::Publisher uuv_simulator_ros::ThrusterROSPlugin::pubDynamicStateEff

private

Publisher for the dynamic state efficiency.

Definition at line 128 of file ThrusterROSPlugin.hh.

ros::Publisher uuv_simulator_ros::ThrusterROSPlugin::pubThrust

private

Publisher for current actual thrust.

Definition at line 116 of file ThrusterROSPlugin.hh.

ros::Publisher uuv_simulator_ros::ThrusterROSPlugin::pubThrusterState

private

Publisher for the thruster state.

Definition at line 122 of file ThrusterROSPlugin.hh.

ros::Publisher uuv_simulator_ros::ThrusterROSPlugin::pubThrustForceEff

private

Publisher for the thrust force efficiency.

Definition at line 125 of file ThrusterROSPlugin.hh.

ros::Publisher uuv_simulator_ros::ThrusterROSPlugin::pubThrustWrench

private

Publisher for current actual thrust as wrench.

Definition at line 119 of file ThrusterROSPlugin.hh.

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

private

Pointer to this ROS node's handle.

Definition at line 110 of file ThrusterROSPlugin.hh.

gazebo::event::ConnectionPtr uuv_simulator_ros::ThrusterROSPlugin::rosPublishConnection

private

Connection for callbacks on update world.

Definition at line 131 of file ThrusterROSPlugin.hh.

gazebo::common::Time uuv_simulator_ros::ThrusterROSPlugin::rosPublishPeriod

private

Period after which we should publish a message via ROS.

Definition at line 134 of file ThrusterROSPlugin.hh.

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

private

Map of thruster services.

Definition at line 107 of file ThrusterROSPlugin.hh.

ros::Subscriber uuv_simulator_ros::ThrusterROSPlugin::subThrustReference

private

Subscriber reacting to new reference thrust set points.

Definition at line 113 of file ThrusterROSPlugin.hh.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation