Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
gazebo::CPCROSPlugin Class Reference

#include <CPCROSPlugin.hh>

Inheritance diagram for gazebo::CPCROSPlugin:
Inheritance graph
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Public Member Functions

 CPCROSPlugin ()
 Class constructor. More...
 
virtual void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
 Load the plugin. More...
 
virtual ~CPCROSPlugin ()
 Class destructor. More...
 
- Public Member Functions inherited from gazebo::ROSBaseModelPlugin
 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 OnPlumeParticlesUpdate (const sensor_msgs::PointCloud::ConstPtr &_msg)
 Update callback from simulator. More...
 
virtual bool OnUpdate (const common::UpdateInfo &_info)
 Update sensor measurement. More...
 
- Protected Member Functions inherited from gazebo::ROSBaseModelPlugin
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

double gain
 Sensor gain. More...
 
double gamma
 Gamma velocity parameter for the smoothing function. More...
 
ros::Time lastUpdateTimestamp
 Last update from the point cloud callback. More...
 
uuv_sensor_ros_plugins_msgs::ChemicalParticleConcentration outputMsg
 Output measurement topic. More...
 
ros::Subscriber particlesSub
 Input topic for the plume particle point cloud. More...
 
double plumeSalinityValue
 
uuv_sensor_ros_plugins_msgs::Salinity salinityMsg
 Output salinity measurement message. More...
 
ros::Publisher salinityPub
 Output topic for salinity measurements based on the particle concentration. More...
 
double smoothingLength
 
bool updatingCloud
 Flag to ensure the cloud and measurement update don't coincide. More...
 
double waterSalinityValue
 
- Protected Attributes inherited from gazebo::ROSBaseModelPlugin
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::TransformBroadcastertfBroadcaster
 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::NodeHandlerosNode
 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 29 of file CPCROSPlugin.hh.

Constructor & Destructor Documentation

gazebo::CPCROSPlugin::CPCROSPlugin ( )

Class constructor.

Definition at line 21 of file CPCROSPlugin.cc.

gazebo::CPCROSPlugin::~CPCROSPlugin ( )
virtual

Class destructor.

Definition at line 25 of file CPCROSPlugin.cc.

Member Function Documentation

void gazebo::CPCROSPlugin::Load ( physics::ModelPtr  _model,
sdf::ElementPtr  _sdf 
)
virtual

Load the plugin.

Reimplemented from gazebo::ROSBaseModelPlugin.

Definition at line 29 of file CPCROSPlugin.cc.

void gazebo::CPCROSPlugin::OnPlumeParticlesUpdate ( const sensor_msgs::PointCloud::ConstPtr &  _msg)
protectedvirtual

Update callback from simulator.

Definition at line 160 of file CPCROSPlugin.cc.

bool gazebo::CPCROSPlugin::OnUpdate ( const common::UpdateInfo &  _info)
protectedvirtual

Update sensor measurement.

Reimplemented from gazebo::ROSBaseModelPlugin.

Definition at line 117 of file CPCROSPlugin.cc.

Member Data Documentation

double gazebo::CPCROSPlugin::gain
protected

Sensor gain.

Definition at line 60 of file CPCROSPlugin.hh.

double gazebo::CPCROSPlugin::gamma
protected

Gamma velocity parameter for the smoothing function.

Definition at line 57 of file CPCROSPlugin.hh.

ros::Time gazebo::CPCROSPlugin::lastUpdateTimestamp
protected

Last update from the point cloud callback.

Definition at line 67 of file CPCROSPlugin.hh.

uuv_sensor_ros_plugins_msgs::ChemicalParticleConcentration gazebo::CPCROSPlugin::outputMsg
protected

Output measurement topic.

Definition at line 71 of file CPCROSPlugin.hh.

ros::Subscriber gazebo::CPCROSPlugin::particlesSub
protected

Input topic for the plume particle point cloud.

Definition at line 48 of file CPCROSPlugin.hh.

double gazebo::CPCROSPlugin::plumeSalinityValue
protected

Definition at line 78 of file CPCROSPlugin.hh.

uuv_sensor_ros_plugins_msgs::Salinity gazebo::CPCROSPlugin::salinityMsg
protected

Output salinity measurement message.

Definition at line 74 of file CPCROSPlugin.hh.

ros::Publisher gazebo::CPCROSPlugin::salinityPub
protected

Output topic for salinity measurements based on the particle concentration.

Definition at line 51 of file CPCROSPlugin.hh.

double gazebo::CPCROSPlugin::smoothingLength
protected

Definition at line 64 of file CPCROSPlugin.hh.

bool gazebo::CPCROSPlugin::updatingCloud
protected

Flag to ensure the cloud and measurement update don't coincide.

Definition at line 54 of file CPCROSPlugin.hh.

double gazebo::CPCROSPlugin::waterSalinityValue
protected

Definition at line 76 of file CPCROSPlugin.hh.


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


uuv_sensor_ros_plugins
Author(s): Musa Morena Marcusso Manhaes , Sebastian Scherer , Luiz Ricardo Douat
autogenerated on Mon Jul 1 2019 19:39:20