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

#include <IMUROSPlugin.hh>

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

Public Member Functions

 IMUROSPlugin ()
 Class constructor. More...
 
virtual void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
 Load the plugin. More...
 
virtual ~IMUROSPlugin ()
 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 AddNoise (ignition::math::Vector3d &_linAcc, ignition::math::Vector3d &_angVel, ignition::math::Quaterniond &_orientation, double _dt)
 Apply and add nosie model to ideal measurements. 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

ignition::math::Vector3d accelerometerBias
 Current (drifting) accelerometer bias. More...
 
ignition::math::Vector3d accelerometerTurnOnBias
 Constant turn-on accelerometer bias. More...
 
ignition::math::Vector3d gravityWorld
 Gravity vector wrt. reference frame. More...
 
ignition::math::Vector3d gyroscopeBias
 Current (drifting) gyroscope bias. More...
 
ignition::math::Vector3d gyroscopeTurnOnBias
 Constant turn-on gyroscope bias. More...
 
IMUParameters imuParameters
 IMU model parameters. More...
 
sensor_msgs::Imu imuROSMessage
 ROS IMU message. More...
 
ignition::math::Vector3d measAngularVel
 Last measurement of angular velocity. More...
 
ignition::math::Vector3d measLinearAcc
 Last measurement of linear acceleration.. More...
 
ignition::math::Quaterniond measOrientation
 (Simulation) time when the last sensor measurement was generated. 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

Definition at line 106 of file IMUROSPlugin.hh.

Constructor & Destructor Documentation

gazebo::IMUROSPlugin::IMUROSPlugin ( )

Class constructor.

Definition at line 35 of file IMUROSPlugin.cc.

gazebo::IMUROSPlugin::~IMUROSPlugin ( )
virtual

Class destructor.

Definition at line 39 of file IMUROSPlugin.cc.

Member Function Documentation

void gazebo::IMUROSPlugin::AddNoise ( ignition::math::Vector3d &  _linAcc,
ignition::math::Vector3d &  _angVel,
ignition::math::Quaterniond &  _orientation,
double  _dt 
)
protected

Apply and add nosie model to ideal measurements.

Gyroscope

Accelerometer

Orientation

Definition at line 323 of file IMUROSPlugin.cc.

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

Load the plugin.

Reimplemented from gazebo::ROSBaseModelPlugin.

Definition at line 43 of file IMUROSPlugin.cc.

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

Update sensor measurement.

Reimplemented from gazebo::ROSBaseModelPlugin.

Definition at line 150 of file IMUROSPlugin.cc.

Member Data Documentation

ignition::math::Vector3d gazebo::IMUROSPlugin::accelerometerBias
protected

Current (drifting) accelerometer bias.

Definition at line 142 of file IMUROSPlugin.hh.

ignition::math::Vector3d gazebo::IMUROSPlugin::accelerometerTurnOnBias
protected

Constant turn-on accelerometer bias.

Definition at line 148 of file IMUROSPlugin.hh.

ignition::math::Vector3d gazebo::IMUROSPlugin::gravityWorld
protected

Gravity vector wrt. reference frame.

Definition at line 136 of file IMUROSPlugin.hh.

ignition::math::Vector3d gazebo::IMUROSPlugin::gyroscopeBias
protected

Current (drifting) gyroscope bias.

Definition at line 139 of file IMUROSPlugin.hh.

ignition::math::Vector3d gazebo::IMUROSPlugin::gyroscopeTurnOnBias
protected

Constant turn-on gyroscope bias.

Definition at line 145 of file IMUROSPlugin.hh.

IMUParameters gazebo::IMUROSPlugin::imuParameters
protected

IMU model parameters.

Definition at line 151 of file IMUROSPlugin.hh.

sensor_msgs::Imu gazebo::IMUROSPlugin::imuROSMessage
protected

ROS IMU message.

Definition at line 154 of file IMUROSPlugin.hh.

ignition::math::Vector3d gazebo::IMUROSPlugin::measAngularVel
protected

Last measurement of angular velocity.

Definition at line 130 of file IMUROSPlugin.hh.

ignition::math::Vector3d gazebo::IMUROSPlugin::measLinearAcc
protected

Last measurement of linear acceleration..

Definition at line 127 of file IMUROSPlugin.hh.

ignition::math::Quaterniond gazebo::IMUROSPlugin::measOrientation
protected

(Simulation) time when the last sensor measurement was generated.

Definition at line 133 of file IMUROSPlugin.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