#include <gazebo_ros_controller_manager.h>

Inheritance diagram for gazebo::GazeboRosControllerManager:

Public Member Functions
	GazeboRosControllerManager ()

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

virtual	~GazeboRosControllerManager ()

Protected Member Functions
virtual void	UpdateChild ()

Private Member Functions
void	ControllerManagerROSThread ()

void	ReadPr2Xml ()
	Service Call Name. More...

bool	setModelsJointsStates (pr2_gazebo_plugins::SetModelsJointsStates::Request &req, pr2_gazebo_plugins::SetModelsJointsStates::Response &res)
	ros service callback More...

Private Attributes
pr2_controller_manager::ControllerManager *	cm_

bool	fake_calibration_

pr2_mechanism_model::RobotState *	fake_state_

pr2_hardware_interface::HardwareInterface	hw_

std::vector< gazebo::physics::JointPtr >	joints_

transport::NodePtr	node

gazebo::physics::ModelPtr	parent_model_

std::string	robotNamespace

std::string	robotParam
	set topic name of robot description parameter More...

boost::thread	ros_spinner_thread_

ros::NodeHandle *	rosnode_

ros::ServiceServer	setModelsJointsStatesService
	ros service More...

double	sim_start_

common::Time	simTime

transport::SubscriberPtr	statsSub

event::ConnectionPtr	updateConnection

double	wall_start_
	ros service callback More...

physics::WorldPtr	world

Detailed Description

Definition at line 59 of file gazebo_ros_controller_manager.h.

Constructor & Destructor Documentation

gazebo::GazeboRosControllerManager::GazeboRosControllerManager ( )

Definition at line 53 of file gazebo_ros_controller_manager.cpp.

gazebo::GazeboRosControllerManager::~GazeboRosControllerManager ( )

virtual

Definition at line 66 of file gazebo_ros_controller_manager.cpp.

Member Function Documentation

void gazebo::GazeboRosControllerManager::ControllerManagerROSThread ( )

private

Definition at line 447 of file gazebo_ros_controller_manager.cpp.

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

Definition at line 96 of file gazebo_ros_controller_manager.cpp.

void gazebo::GazeboRosControllerManager::ReadPr2Xml ( )

private

Service Call Name.

Definition at line 361 of file gazebo_ros_controller_manager.cpp.

bool gazebo::GazeboRosControllerManager::setModelsJointsStates	(	pr2_gazebo_plugins::SetModelsJointsStates::Request &	req,
		pr2_gazebo_plugins::SetModelsJointsStates::Response &	res
	)

private

ros service callback

void gazebo::GazeboRosControllerManager::UpdateChild ( )

protectedvirtual

Definition at line 215 of file gazebo_ros_controller_manager.cpp.

Member Data Documentation

pr2_controller_manager::ControllerManager* gazebo::GazeboRosControllerManager::cm_

private

Definition at line 74 of file gazebo_ros_controller_manager.h.

bool gazebo::GazeboRosControllerManager::fake_calibration_

private

Definition at line 115 of file gazebo_ros_controller_manager.h.

pr2_mechanism_model::RobotState* gazebo::GazeboRosControllerManager::fake_state_

private

Todo:: The fake state helps Gazebo run the transmissions backwards, so that it can figure out what its joints should do based on the actuator values.

Definition at line 79 of file gazebo_ros_controller_manager.h.

pr2_hardware_interface::HardwareInterface gazebo::GazeboRosControllerManager::hw_

private

Definition at line 73 of file gazebo_ros_controller_manager.h.

std::vector<gazebo::physics::JointPtr> gazebo::GazeboRosControllerManager::joints_

private

Definition at line 80 of file gazebo_ros_controller_manager.h.

transport::NodePtr gazebo::GazeboRosControllerManager::node

private

Definition at line 132 of file gazebo_ros_controller_manager.h.

gazebo::physics::ModelPtr gazebo::GazeboRosControllerManager::parent_model_

private