#include <gazebo_ros_block_laser.h>

Inheritance diagram for gazebo::GazeboRosBlockLaser:

Public Member Functions
	GazeboRosBlockLaser ()
	Constructor. More...

void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin. More...

void	OnStats (const boost::shared_ptr< msgs::WorldStatistics const > &_msg)

	~GazeboRosBlockLaser ()
	Destructor. More...

Protected Member Functions
virtual void	OnNewLaserScans ()
	Update the controller. More...

Private Member Functions
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator. More...

void	LaserConnect ()

void	LaserDisconnect ()

void	LaserQueueThread ()

void	PutLaserData (common::Time &_updateTime)
	Put laser data to the ROS topic. More...

Private Attributes
boost::thread	callback_laser_queue_thread_

sensor_msgs::PointCloud	cloud_msg_
	ros message More...

std::string	frame_name_
	frame transform name, should match link name More...

double	gaussian_noise_
	Gaussian noise. More...

double	hokuyo_min_intensity_
	hack to mimic hokuyo intensity cutoff of 100 More...

int	laser_connect_count_
	Keep track of number of connctions. More...

ros::CallbackQueue	laser_queue_

common::Time	last_update_time_

boost::mutex	lock
	A mutex to lock access to fields that are used in message callbacks. More...

transport::NodePtr	node_

sensors::RaySensorPtr	parent_ray_sensor_

sensors::SensorPtr	parent_sensor_
	The parent sensor. More...

ros::Publisher	pub_

std::string	robot_namespace_
	for setting ROS name space More...

ros::NodeHandle *	rosnode_
	pointer to ros node More...

common::Time	sim_time_

std::string	topic_name_
	topic name More...

double	update_rate_
	update rate of this sensor More...

physics::WorldPtr	world_

Detailed Description

Definition at line 49 of file gazebo_ros_block_laser.h.

Constructor & Destructor Documentation

gazebo::GazeboRosBlockLaser::GazeboRosBlockLaser ( )

Constructor.

Parameters

parent The parent entity, must be a Model or a Sensor

Definition at line 53 of file gazebo_ros_block_laser.cpp.

gazebo::GazeboRosBlockLaser::~GazeboRosBlockLaser ( )

Destructor.

Definition at line 59 of file gazebo_ros_block_laser.cpp.

Member Function Documentation

double gazebo::GazeboRosBlockLaser::GaussianKernel	(	double	mu,
		double	sigma
	)

private

Gaussian noise generator.

Definition at line 377 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::LaserConnect ( )

private

Definition at line 192 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::LaserDisconnect ( )

private

Definition at line 199 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::LaserQueueThread ( )

private

Definition at line 394 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Load the plugin.

Parameters

take	in SDF root element

Definition at line 73 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::OnNewLaserScans ( )

protectedvirtual

Update the controller.

Definition at line 209 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::OnStats ( const boost::shared_ptr< msgs::WorldStatistics const > & _msg )

Definition at line 404 of file gazebo_ros_block_laser.cpp.

void gazebo::GazeboRosBlockLaser::PutLaserData ( common::Time & _updateTime )

private

Put laser data to the ROS topic.

Definition at line 234 of file gazebo_ros_block_laser.cpp.

Member Data Documentation

boost::thread gazebo::GazeboRosBlockLaser::callback_laser_queue_thread_

private

Definition at line 116 of file gazebo_ros_block_laser.h.

sensor_msgs::PointCloud gazebo::GazeboRosBlockLaser::cloud_msg_

private

ros message

Definition at line 86 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::frame_name_

private

frame transform name, should match link name

Definition at line 92 of file gazebo_ros_block_laser.h.

double gazebo::GazeboRosBlockLaser::gaussian_noise_

private

Gaussian noise.

Definition at line 95 of file gazebo_ros_block_laser.h.

double gazebo::GazeboRosBlockLaser::hokuyo_min_intensity_

private

hack to mimic hokuyo intensity cutoff of 100

Definition at line 105 of file gazebo_ros_block_laser.h.

int gazebo::GazeboRosBlockLaser::laser_connect_count_

private

Keep track of number of connctions.

Definition at line 71 of file gazebo_ros_block_laser.h.

ros::CallbackQueue gazebo::GazeboRosBlockLaser::laser_queue_

private

Definition at line 114 of file gazebo_ros_block_laser.h.

common::Time gazebo::GazeboRosBlockLaser::last_update_time_

private

Definition at line 68 of file gazebo_ros_block_laser.h.

boost::mutex gazebo::GazeboRosBlockLaser::lock

private

A mutex to lock access to fields that are used in message callbacks.

Definition at line 101 of file gazebo_ros_block_laser.h.

transport::NodePtr gazebo::GazeboRosBlockLaser::node_

private

Definition at line 119 of file gazebo_ros_block_laser.h.

sensors::RaySensorPtr gazebo::GazeboRosBlockLaser::parent_ray_sensor_

private

Definition at line 79 of file gazebo_ros_block_laser.h.

sensors::SensorPtr gazebo::GazeboRosBlockLaser::parent_sensor_

private

The parent sensor.

Definition at line 78 of file gazebo_ros_block_laser.h.

ros::Publisher gazebo::GazeboRosBlockLaser::pub_

private

Definition at line 83 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::robot_namespace_

private

for setting ROS name space

Definition at line 111 of file gazebo_ros_block_laser.h.

ros::NodeHandle* gazebo::GazeboRosBlockLaser::rosnode_

private

pointer to ros node

Definition at line 82 of file gazebo_ros_block_laser.h.

common::Time gazebo::GazeboRosBlockLaser::sim_time_

private

Definition at line 120 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::topic_name_

private

topic name

Definition at line 89 of file gazebo_ros_block_laser.h.

double gazebo::GazeboRosBlockLaser::update_rate_

private

update rate of this sensor

Definition at line 108 of file gazebo_ros_block_laser.h.

physics::WorldPtr gazebo::GazeboRosBlockLaser::world_

private

Definition at line 76 of file gazebo_ros_block_laser.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation