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

TODO: Modify computation of velocity using the beams. More...

#include <DVLROSPlugin.hh>

Inheritance diagram for gazebo::DVLROSPlugin:
Inheritance graph
[legend]

Public Member Functions

 DVLROSPlugin ()
 Class constructor. More...
 
virtual void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
 Load the plugin. More...
 
virtual ~DVLROSPlugin ()
 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

void OnBeamCallback (const sensor_msgs::RangeConstPtr &_range0, const sensor_msgs::RangeConstPtr &_range1, const sensor_msgs::RangeConstPtr &_range2, const sensor_msgs::RangeConstPtr &_range3)
 Get beam Range message update. More...
 
virtual bool OnUpdate (const common::UpdateInfo &_info)
 Update sensor measurement. More...
 
bool UpdateBeamTransforms ()
 Updates the poses of each beam wrt the DVL frame. 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 altitude
 Measured altitude in meters. More...
 
std::vector< ignition::math::Pose3d > beamPoses
 List of poses of each beam wrt to the DVL frame. More...
 
std::vector< std::string > beamsLinkNames
 List of beam links. More...
 
boost::shared_ptr< message_filters::Subscriber< sensor_msgs::Range > > beamSub0
 
boost::shared_ptr< message_filters::Subscriber< sensor_msgs::Range > > beamSub1
 
boost::shared_ptr< message_filters::Subscriber< sensor_msgs::Range > > beamSub2
 
boost::shared_ptr< message_filters::Subscriber< sensor_msgs::Range > > beamSub3
 
std::vector< std::string > beamTopics
 List of beam topics. More...
 
bool beamTransformsInitialized
 
std::vector< uuv_sensor_ros_plugins_msgs::DVLBeam > dvlBeamMsgs
 
uuv_sensor_ros_plugins_msgs::DVL dvlROSMsg
 ROS DVL message. More...
 
boost::shared_ptr< message_filters::TimeSynchronizer< sensor_msgs::Range, sensor_msgs::Range, sensor_msgs::Range, sensor_msgs::Range > > syncBeamMessages
 
tf::TransformListener transformListener
 
ros::Publisher twistPub
 ROS publisher for twist data. More...
 
geometry_msgs::TwistWithCovarianceStamped twistROSMsg
 Store pose message since many attributes do not change (cov.). More...
 
- 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

TODO: Modify computation of velocity using the beams.

Definition at line 39 of file DVLROSPlugin.hh.

Constructor & Destructor Documentation

gazebo::DVLROSPlugin::DVLROSPlugin ( )

Class constructor.

Definition at line 21 of file DVLROSPlugin.cc.

gazebo::DVLROSPlugin::~DVLROSPlugin ( )
virtual

Class destructor.

Definition at line 27 of file DVLROSPlugin.cc.

Member Function Documentation

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

Load the plugin.

Reimplemented from gazebo::ROSBaseModelPlugin.

Definition at line 31 of file DVLROSPlugin.cc.

void gazebo::DVLROSPlugin::OnBeamCallback ( const sensor_msgs::RangeConstPtr &  _range0,
const sensor_msgs::RangeConstPtr &  _range1,
const sensor_msgs::RangeConstPtr &  _range2,
const sensor_msgs::RangeConstPtr &  _range3 
)
protected

Get beam Range message update.

Definition at line 232 of file DVLROSPlugin.cc.

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

Update sensor measurement.

Reimplemented from gazebo::ROSBaseModelPlugin.

Definition at line 147 of file DVLROSPlugin.cc.

bool gazebo::DVLROSPlugin::UpdateBeamTransforms ( )
protected

Updates the poses of each beam wrt the DVL frame.

Definition at line 267 of file DVLROSPlugin.cc.

Member Data Documentation

double gazebo::DVLROSPlugin::altitude
protected

Measured altitude in meters.

Definition at line 65 of file DVLROSPlugin.hh.

std::vector<ignition::math::Pose3d> gazebo::DVLROSPlugin::beamPoses
protected

List of poses of each beam wrt to the DVL frame.

Definition at line 85 of file DVLROSPlugin.hh.

std::vector<std::string> gazebo::DVLROSPlugin::beamsLinkNames
protected

List of beam links.

Definition at line 79 of file DVLROSPlugin.hh.

boost::shared_ptr<message_filters::Subscriber< sensor_msgs::Range> > gazebo::DVLROSPlugin::beamSub0
protected

Definition at line 92 of file DVLROSPlugin.hh.

boost::shared_ptr<message_filters::Subscriber< sensor_msgs::Range> > gazebo::DVLROSPlugin::beamSub1
protected

Definition at line 95 of file DVLROSPlugin.hh.

boost::shared_ptr<message_filters::Subscriber< sensor_msgs::Range> > gazebo::DVLROSPlugin::beamSub2
protected

Definition at line 98 of file DVLROSPlugin.hh.

boost::shared_ptr<message_filters::Subscriber< sensor_msgs::Range> > gazebo::DVLROSPlugin::beamSub3
protected

Definition at line 101 of file DVLROSPlugin.hh.

std::vector<std::string> gazebo::DVLROSPlugin::beamTopics
protected

List of beam topics.

Definition at line 82 of file DVLROSPlugin.hh.

bool gazebo::DVLROSPlugin::beamTransformsInitialized
protected

Definition at line 62 of file DVLROSPlugin.hh.

std::vector<uuv_sensor_ros_plugins_msgs::DVLBeam> gazebo::DVLROSPlugin::dvlBeamMsgs
protected

Definition at line 70 of file DVLROSPlugin.hh.

uuv_sensor_ros_plugins_msgs::DVL gazebo::DVLROSPlugin::dvlROSMsg
protected

ROS DVL message.

Definition at line 68 of file DVLROSPlugin.hh.

boost::shared_ptr<message_filters::TimeSynchronizer< sensor_msgs::Range, sensor_msgs::Range, sensor_msgs::Range, sensor_msgs::Range> > gazebo::DVLROSPlugin::syncBeamMessages
protected

Definition at line 89 of file DVLROSPlugin.hh.

tf::TransformListener gazebo::DVLROSPlugin::transformListener
protected

Definition at line 103 of file DVLROSPlugin.hh.

ros::Publisher gazebo::DVLROSPlugin::twistPub
protected

ROS publisher for twist data.

Definition at line 73 of file DVLROSPlugin.hh.

geometry_msgs::TwistWithCovarianceStamped gazebo::DVLROSPlugin::twistROSMsg
protected

Store pose message since many attributes do not change (cov.).

Definition at line 76 of file DVLROSPlugin.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