#include <gazebo_ros_skid_steer_drive.h>

Inheritance diagram for gazebo::GazeboRosSkidSteerDrive:

Public Member Functions
	GazeboRosSkidSteerDrive ()

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

	~GazeboRosSkidSteerDrive ()

Protected Member Functions
virtual void	FiniChild ()

virtual void	UpdateChild ()

Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)

void	getWheelVelocities ()

void	publishOdometry (double step_time)

void	QueueThread ()

Private Attributes
bool	alive_

bool	broadcast_tf_

boost::thread	callback_queue_thread_

ros::Subscriber	cmd_vel_subscriber_

std::string	command_topic_

double	covariance_x_

double	covariance_y_

double	covariance_yaw_

physics::JointPtr	joints [4]

common::Time	last_update_time_

std::string	left_front_joint_name_

std::string	left_rear_joint_name_

boost::mutex	lock

nav_msgs::Odometry	odom_

std::string	odometry_frame_

ros::Publisher	odometry_publisher_

std::string	odometry_topic_

physics::ModelPtr	parent

ros::CallbackQueue	queue_

std::string	right_front_joint_name_

std::string	right_rear_joint_name_

std::string	robot_base_frame_

std::string	robot_namespace_

ros::NodeHandle *	rosnode_

double	rot_

std::string	tf_prefix_

double	torque

tf::TransformBroadcaster *	transform_broadcaster_

event::ConnectionPtr	update_connection_

double	update_period_

double	update_rate_

double	wheel_diameter_

double	wheel_separation_

double	wheel_speed_ [4]

physics::WorldPtr	world

double	x_

Detailed Description

Definition at line 68 of file gazebo_ros_skid_steer_drive.h.

Constructor & Destructor Documentation

gazebo::GazeboRosSkidSteerDrive::GazeboRosSkidSteerDrive ( )

Definition at line 67 of file gazebo_ros_skid_steer_drive.cpp.

gazebo::GazeboRosSkidSteerDrive::~GazeboRosSkidSteerDrive ( )

Definition at line 70 of file gazebo_ros_skid_steer_drive.cpp.

Member Function Documentation

void gazebo::GazeboRosSkidSteerDrive::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr & cmd_msg )

private

Definition at line 391 of file gazebo_ros_skid_steer_drive.cpp.

void gazebo::GazeboRosSkidSteerDrive::FiniChild ( )

protectedvirtual

Definition at line 369 of file gazebo_ros_skid_steer_drive.cpp.

void gazebo::GazeboRosSkidSteerDrive::getWheelVelocities ( )

private

Definition at line 377 of file gazebo_ros_skid_steer_drive.cpp.

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

Definition at line 76 of file gazebo_ros_skid_steer_drive.cpp.

void gazebo::GazeboRosSkidSteerDrive::publishOdometry ( double step_time )

private

Definition at line 407 of file gazebo_ros_skid_steer_drive.cpp.

void gazebo::GazeboRosSkidSteerDrive::QueueThread ( )

private

Definition at line 399 of file gazebo_ros_skid_steer_drive.cpp.

void gazebo::GazeboRosSkidSteerDrive::UpdateChild ( )

protectedvirtual

Definition at line 337 of file gazebo_ros_skid_steer_drive.cpp.

Member Data Documentation

bool gazebo::GazeboRosSkidSteerDrive::alive_

private

Definition at line 126 of file gazebo_ros_skid_steer_drive.h.

bool gazebo::GazeboRosSkidSteerDrive::broadcast_tf_

private

Definition at line 106 of file gazebo_ros_skid_steer_drive.h.

boost::thread gazebo::GazeboRosSkidSteerDrive::callback_queue_thread_

private

Definition at line 118 of file gazebo_ros_skid_steer_drive.h.

ros::Subscriber gazebo::GazeboRosSkidSteerDrive::cmd_vel_subscriber_

private

Definition at line 102 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::command_topic_

private

Definition at line 111 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::covariance_x_

private

Definition at line 133 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::covariance_y_

private

Definition at line 134 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::covariance_yaw_

private

Definition at line 135 of file gazebo_ros_skid_steer_drive.h.

physics::JointPtr gazebo::GazeboRosSkidSteerDrive::joints[4]

private

Definition at line 97 of file gazebo_ros_skid_steer_drive.h.

common::Time gazebo::GazeboRosSkidSteerDrive::last_update_time_

private

Definition at line 131 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::left_front_joint_name_

private

Definition at line 87 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::left_rear_joint_name_

private

Definition at line 89 of file gazebo_ros_skid_steer_drive.h.

boost::mutex gazebo::GazeboRosSkidSteerDrive::lock

private

Definition at line 108 of file gazebo_ros_skid_steer_drive.h.

nav_msgs::Odometry gazebo::GazeboRosSkidSteerDrive::odom_

private

Definition at line 104 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::odometry_frame_

private

Definition at line 113 of file gazebo_ros_skid_steer_drive.h.

ros::Publisher gazebo::GazeboRosSkidSteerDrive::odometry_publisher_

private

Definition at line 101 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::odometry_topic_

private

Definition at line 112 of file gazebo_ros_skid_steer_drive.h.

physics::ModelPtr gazebo::GazeboRosSkidSteerDrive::parent

private

Definition at line 84 of file gazebo_ros_skid_steer_drive.h.

ros::CallbackQueue gazebo::GazeboRosSkidSteerDrive::queue_

private

Definition at line 117 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::right_front_joint_name_

private

Definition at line 88 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::right_rear_joint_name_

private

Definition at line 90 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::robot_base_frame_

private

Definition at line 114 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::robot_namespace_

private

Definition at line 110 of file gazebo_ros_skid_steer_drive.h.

ros::NodeHandle* gazebo::GazeboRosSkidSteerDrive::rosnode_

private

Definition at line 100 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::rot_

private

Definition at line 125 of file gazebo_ros_skid_steer_drive.h.

std::string gazebo::GazeboRosSkidSteerDrive::tf_prefix_

private

Definition at line 105 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::torque

private

Definition at line 94 of file gazebo_ros_skid_steer_drive.h.

tf::TransformBroadcaster* gazebo::GazeboRosSkidSteerDrive::transform_broadcaster_

private

Definition at line 103 of file gazebo_ros_skid_steer_drive.h.

event::ConnectionPtr gazebo::GazeboRosSkidSteerDrive::update_connection_

private

Definition at line 85 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::update_period_

private

Definition at line 130 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::update_rate_

private

Definition at line 129 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::wheel_diameter_

private

Definition at line 93 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::wheel_separation_

private

Definition at line 92 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::wheel_speed_[4]

private

Definition at line 95 of file gazebo_ros_skid_steer_drive.h.

physics::WorldPtr gazebo::GazeboRosSkidSteerDrive::world

private

Definition at line 83 of file gazebo_ros_skid_steer_drive.h.

double gazebo::GazeboRosSkidSteerDrive::x_

private

Definition at line 124 of file gazebo_ros_skid_steer_drive.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