#include <ROSBaseModelPlugin.hh>
Public Member Functions | |
| ROSBaseModelPlugin () | |
| Class constructor. More... | |
| virtual | ~ROSBaseModelPlugin () |
| Class destructor. More... | |
 Public Member Functions inherited from gazebo::ROSBasePlugin | |
| bool | AddNoiseModel (std::string _name, double _sigma) |
| Add noise normal distribution to the list. More... | |
| bool | InitBasePlugin (sdf::ElementPtr _sdf) |
| Initialize base plugin. More... | |
| ROSBasePlugin () | |
| Class constructor. More... | |
| virtual | ~ROSBasePlugin () |
| Class destructor. More... | |
Protected Member Functions | |
| virtual void | Load (physics::ModelPtr _model, sdf::ElementPtr _sdf) |
| Load plugin and its configuration from sdf,. More... | |
| virtual bool | OnUpdate (const common::UpdateInfo &) |
| Update callback from simulation. More... | |
| void | SendLocalNEDTransform () |
| Returns true if the base_link_ned frame exists. More... | |
| Protected Member Functions inherited from gazebo::ROSBasePlugin | |
| bool | ChangeSensorState (uuv_sensor_ros_plugins_msgs::ChangeSensorState::Request &_req, uuv_sensor_ros_plugins_msgs::ChangeSensorState::Response &_res) |
| Change sensor state (ON/OFF) More... | |
| bool | EnableMeasurement (const common::UpdateInfo &_info) const |
| Enables generation of simulated measurement if the timeout since the last update has been reached. More... | |
| double | GetGaussianNoise (double _amp) |
| Returns noise value for a function with zero mean from the default Gaussian noise model. More... | |
| double | GetGaussianNoise (std::string _name, double _amp) |
| Returns noise value for a function with zero mean from a Gaussian noise model according to the model name. More... | |
| void | GetTFMessage (const tf::tfMessage::ConstPtr &_msg) |
| Callback function for the static TF message. More... | |
| bool | IsOn () |
| Returns true if the plugin is activated. More... | |
| void | PublishState () |
| Publish the current state of the plugin. More... | |
| void | UpdateReferenceFramePose () |
| Updates the pose of the reference frame wrt the world frame. More... | |
Protected Attributes | |
| bool | enableLocalNEDFrame |
| True if a the local NED frame needs to be broadcasted. More... | |
| physics::LinkPtr | link |
| Pointer to the link. More... | |
| ignition::math::Pose3d | localNEDFrame |
| Pose of the local NED frame wrt link frame. More... | |
| physics::ModelPtr | model |
| Pointer to the model. More... | |
| tf::TransformBroadcaster * | tfBroadcaster |
| TF broadcaster for the local NED frame. More... | |
| tf::StampedTransform | tfLocalNEDFrame |
| Local NED TF frame. More... | |
| Protected Attributes inherited from gazebo::ROSBasePlugin | |
| ros::ServiceServer | changeSensorSrv |
| Service server object. More... | |
| bool | gazeboMsgEnabled |
| Flag set to true if the Gazebo sensors messages are supposed to be published as well (it can avoid unnecessary overhead in case) the sensor messages needed are only ROS messages. More... | |
| transport::NodePtr | gazeboNode |
| Gazebo's node handle for transporting measurement messages. More... | |
| transport::PublisherPtr | gazeboSensorOutputPub |
| Gazebo's publisher for transporting measurement messages. More... | |
| std_msgs::Bool | isOn |
| Flag to control the generation of output messages. More... | |
| bool | isReferenceInit |
| Flag set to true if reference frame initialized. More... | |
| common::Time | lastMeasurementTime |
| (Simulation) time when the last sensor measurement was generated. More... | |
| double | noiseAmp |
| Noise amplitude. More... | |
| std::map< std::string, std::normal_distribution< double > > | noiseModels |
| Normal distribution describing the noise models. More... | |
| double | noiseSigma |
| Noise standard deviation. More... | |
| ros::Publisher | pluginStatePub |
| ROS publisher for the switchable sensor data. More... | |
| ignition::math::Pose3d | referenceFrame |
| Pose of the reference frame wrt world frame. More... | |
| std::string | referenceFrameID |
| Frame ID of the reference frame. More... | |
| physics::LinkPtr | referenceLink |
| Reference link. More... | |
| std::default_random_engine | rndGen |
| Pseudo random number generator. More... | |
| std::string | robotNamespace |
| Robot namespace. More... | |
| boost::shared_ptr< ros::NodeHandle > | rosNode |
| ROS node handle for communication with ROS. More... | |
| ros::Publisher | rosSensorOutputPub |
| Gazebo's publisher for transporting measurement messages. More... | |
| std::string | sensorOutputTopic |
| Name of the sensor's output topic. More... | |
| ros::Subscriber | tfStaticSub |
| ROS subscriber for the TF static reference frame. More... | |
| event::ConnectionPtr | updateConnection |
| Pointer to the update event connection. More... | |
| double | updateRate |
| Sensor update rate. More... | |
| physics::WorldPtr | world |
| Pointer to the world. More... | |
Detailed Description
Definition at line 34 of file ROSBaseModelPlugin.hh.
Constructor & Destructor Documentation
| gazebo::ROSBaseModelPlugin::ROSBaseModelPlugin | ( | ) |
Class constructor.
Definition at line 22 of file ROSBaseModelPlugin.cc.
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virtual |
Class destructor.
Definition at line 37 of file ROSBaseModelPlugin.cc.
Member Function Documentation
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protectedvirtual |
Load plugin and its configuration from sdf,.
Reimplemented in gazebo::IMUROSPlugin, gazebo::MagnetometerROSPlugin, gazebo::PoseGTROSPlugin, gazebo::DVLROSPlugin, gazebo::CPCROSPlugin, gazebo::RPTROSPlugin, and gazebo::SubseaPressureROSPlugin.
Definition at line 44 of file ROSBaseModelPlugin.cc.
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protectedvirtual |
Update callback from simulation.
Implements gazebo::ROSBasePlugin.
Reimplemented in gazebo::IMUROSPlugin, gazebo::MagnetometerROSPlugin, gazebo::PoseGTROSPlugin, gazebo::DVLROSPlugin, gazebo::CPCROSPlugin, gazebo::RPTROSPlugin, and gazebo::SubseaPressureROSPlugin.
Definition at line 89 of file ROSBaseModelPlugin.cc.
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protected |
Returns true if the base_link_ned frame exists.
Definition at line 95 of file ROSBaseModelPlugin.cc.
Member Data Documentation
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True if a the local NED frame needs to be broadcasted.
Definition at line 56 of file ROSBaseModelPlugin.hh.
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Pointer to the link.
Definition at line 53 of file ROSBaseModelPlugin.hh.
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protected |
Pose of the local NED frame wrt link frame.
Definition at line 62 of file ROSBaseModelPlugin.hh.
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Pointer to the model.
Definition at line 50 of file ROSBaseModelPlugin.hh.
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TF broadcaster for the local NED frame.
Definition at line 59 of file ROSBaseModelPlugin.hh.
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Local NED TF frame.
Definition at line 65 of file ROSBaseModelPlugin.hh.
The documentation for this class was generated from the following files: