#include <gazebo_ros_tricycle_drive.h>

Inheritance diagram for gazebo::GazeboRosTricycleDrive:

Classes
class	TricycleDriveCmd

Public Member Functions
	GazeboRosTricycleDrive ()

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

	~GazeboRosTricycleDrive ()

Protected Member Functions
virtual void	FiniChild ()

virtual void	UpdateChild ()

Private Types
enum	OdomSource { ENCODER = 0, WORLD = 1 }

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

void	motorController (double target_speed, double target_angle, double dt)

void	publishOdometry (double step_time)

void	publishWheelJointState ()
	publishes the wheel tf's More...

void	publishWheelTF ()

void	QueueThread ()

void	UpdateOdometryEncoder ()
	updates the relative robot pose based on the wheel encoders More...

Private Attributes
bool	alive_

boost::thread	callback_queue_thread_

TricycleDriveCmd	cmd_

ros::Subscriber	cmd_vel_subscriber_

std::string	command_topic_

double	diameter_actuated_wheel_

double	diameter_encoder_wheel_

GazeboRosPtr	gazebo_ros_

sensor_msgs::JointState	joint_state_

ros::Publisher	joint_state_publisher_

physics::JointPtr	joint_steering_

physics::JointPtr	joint_wheel_actuated_

physics::JointPtr	joint_wheel_encoder_left_

physics::JointPtr	joint_wheel_encoder_right_

common::Time	last_actuator_update_

common::Time	last_odom_update_

boost::mutex	lock

nav_msgs::Odometry	odom_

OdomSource	odom_source_

std::string	odometry_frame_

ros::Publisher	odometry_publisher_

std::string	odometry_topic_

physics::ModelPtr	parent

geometry_msgs::Pose2D	pose_encoder_

bool	publishWheelJointState_

bool	publishWheelTF_

ros::CallbackQueue	queue_

std::string	robot_base_frame_

std::string	robot_namespace_

double	separation_encoder_wheel_

double	steering_angle_tolerance_

double	steering_speed_

boost::shared_ptr< tf::TransformBroadcaster >	transform_broadcaster_

event::ConnectionPtr	update_connection_

double	update_period_

double	update_rate_

double	wheel_acceleration_

double	wheel_deceleration_

double	wheel_speed_tolerance_

double	wheel_torque_

Detailed Description

Definition at line 73 of file gazebo_ros_tricycle_drive.h.

Member Enumeration Documentation

enum gazebo::GazeboRosTricycleDrive::OdomSource

private

Enumerator
ENCODER
WORLD

Definition at line 82 of file gazebo_ros_tricycle_drive.h.

Constructor & Destructor Documentation

gazebo::GazeboRosTricycleDrive::GazeboRosTricycleDrive ( )

Definition at line 68 of file gazebo_ros_tricycle_drive.cpp.

gazebo::GazeboRosTricycleDrive::~GazeboRosTricycleDrive ( )

Definition at line 71 of file gazebo_ros_tricycle_drive.cpp.

Member Function Documentation

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

private

Definition at line 340 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::FiniChild ( )

protectedvirtual

Definition at line 331 of file gazebo_ros_tricycle_drive.cpp.

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

Definition at line 74 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::motorController	(	double	target_speed,
		double	target_angle,
		double	dt
	)

private

Definition at line 238 of file gazebo_ros_tricycle_drive.cpp.

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

private

Definition at line 406 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::publishWheelJointState ( )

private

publishes the wheel tf's

Definition at line 157 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::publishWheelTF ( )

private

Definition at line 184 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::QueueThread ( )

private

Definition at line 347 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::UpdateChild ( )

protectedvirtual

Definition at line 211 of file gazebo_ros_tricycle_drive.cpp.

void gazebo::GazeboRosTricycleDrive::UpdateOdometryEncoder ( )

private

updates the relative robot pose based on the wheel encoders

Definition at line 356 of file gazebo_ros_tricycle_drive.cpp.

Member Data Documentation

bool gazebo::GazeboRosTricycleDrive::alive_

private

Definition at line 152 of file gazebo_ros_tricycle_drive.h.

boost::thread gazebo::GazeboRosTricycleDrive::callback_queue_thread_

private

Definition at line 142 of file gazebo_ros_tricycle_drive.h.

TricycleDriveCmd gazebo::GazeboRosTricycleDrive::cmd_

private

Definition at line 151 of file gazebo_ros_tricycle_drive.h.

ros::Subscriber gazebo::GazeboRosTricycleDrive::cmd_vel_subscriber_

private

Definition at line 131 of file gazebo_ros_tricycle_drive.h.

std::string gazebo::GazeboRosTricycleDrive::command_topic_

private

Definition at line 124 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::diameter_actuated_wheel_

private

Definition at line 112 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::diameter_encoder_wheel_

private

Definition at line 111 of file gazebo_ros_tricycle_drive.h.

GazeboRosPtr gazebo::GazeboRosTricycleDrive::gazebo_ros_

private

Definition at line 97 of file gazebo_ros_tricycle_drive.h.

sensor_msgs::JointState gazebo::GazeboRosTricycleDrive::joint_state_

private

Definition at line 133 of file gazebo_ros_tricycle_drive.h.

ros::Publisher gazebo::GazeboRosTricycleDrive::joint_state_publisher_

private

Definition at line 134 of file gazebo_ros_tricycle_drive.h.

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_steering_

private

Definition at line 106 of file gazebo_ros_tricycle_drive.h.

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_wheel_actuated_

private

Definition at line 107 of file gazebo_ros_tricycle_drive.h.

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_wheel_encoder_left_

private

Definition at line 108 of file gazebo_ros_tricycle_drive.h.

physics::JointPtr gazebo::GazeboRosTricycleDrive::joint_wheel_encoder_right_

private

Definition at line 109 of file gazebo_ros_tricycle_drive.h.

common::Time gazebo::GazeboRosTricycleDrive::last_actuator_update_

private

Definition at line 159 of file gazebo_ros_tricycle_drive.h.

common::Time gazebo::GazeboRosTricycleDrive::last_odom_update_

private

Definition at line 154 of file gazebo_ros_tricycle_drive.h.

boost::mutex gazebo::GazeboRosTricycleDrive::lock

private

Definition at line 137 of file gazebo_ros_tricycle_drive.h.

nav_msgs::Odometry gazebo::GazeboRosTricycleDrive::odom_

private

Definition at line 135 of file gazebo_ros_tricycle_drive.h.

OdomSource gazebo::GazeboRosTricycleDrive::odom_source_

private

Definition at line 120 of file gazebo_ros_tricycle_drive.h.

std::string gazebo::GazeboRosTricycleDrive::odometry_frame_

private

Definition at line 126 of file gazebo_ros_tricycle_drive.h.

ros::Publisher gazebo::GazeboRosTricycleDrive::odometry_publisher_

private

Definition at line 130 of file gazebo_ros_tricycle_drive.h.

std::string gazebo::GazeboRosTricycleDrive::odometry_topic_

private

Definition at line 125 of file gazebo_ros_tricycle_drive.h.

physics::ModelPtr gazebo::GazeboRosTricycleDrive::parent

private

Definition at line 98 of file gazebo_ros_tricycle_drive.h.

geometry_msgs::Pose2D gazebo::GazeboRosTricycleDrive::pose_encoder_

private

Definition at line 153 of file gazebo_ros_tricycle_drive.h.

bool gazebo::GazeboRosTricycleDrive::publishWheelJointState_

private

Definition at line 163 of file gazebo_ros_tricycle_drive.h.

bool gazebo::GazeboRosTricycleDrive::publishWheelTF_

private

Definition at line 162 of file gazebo_ros_tricycle_drive.h.

ros::CallbackQueue gazebo::GazeboRosTricycleDrive::queue_

private

Definition at line 141 of file gazebo_ros_tricycle_drive.h.

std::string gazebo::GazeboRosTricycleDrive::robot_base_frame_

private

Definition at line 127 of file gazebo_ros_tricycle_drive.h.

std::string gazebo::GazeboRosTricycleDrive::robot_namespace_

private

Definition at line 123 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::separation_encoder_wheel_

private

Definition at line 118 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::steering_angle_tolerance_

private

Definition at line 116 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::steering_speed_

private

Definition at line 117 of file gazebo_ros_tricycle_drive.h.

boost::shared_ptr<tf::TransformBroadcaster> gazebo::GazeboRosTricycleDrive::transform_broadcaster_

private

Definition at line 132 of file gazebo_ros_tricycle_drive.h.

event::ConnectionPtr gazebo::GazeboRosTricycleDrive::update_connection_

private

Definition at line 104 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::update_period_

private

Definition at line 158 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::update_rate_

private

Definition at line 157 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::wheel_acceleration_

private

Definition at line 113 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::wheel_deceleration_

private

Definition at line 114 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::wheel_speed_tolerance_

private

Definition at line 115 of file gazebo_ros_tricycle_drive.h.

double gazebo::GazeboRosTricycleDrive::wheel_torque_

private

Definition at line 121 of file gazebo_ros_tricycle_drive.h.

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

Classes

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation