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

#include <PoseGTROSPlugin.hh>

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

Public Member Functions

virtual void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
 Load the plugin. More...
 
 PoseGTROSPlugin ()
 Class constructor. More...
 
 ~PoseGTROSPlugin ()
 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 bool OnUpdate (const common::UpdateInfo &_info)
 Update sensor measurement. More...
 
void PublishNEDOdomMessage (common::Time _time, ignition::math::Pose3d _pose, ignition::math::Vector3d _linVel, ignition::math::Vector3d _angVel)
 
void PublishOdomMessage (common::Time _time, ignition::math::Pose3d _pose, ignition::math::Vector3d _linVel, ignition::math::Vector3d _angVel)
 
void UpdateNEDTransform ()
 
- 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 angAcc
 
ignition::math::Vector3d lastAngVel
 
ignition::math::Vector3d lastLinVel
 
ignition::math::Vector3d lastRefAngVel
 
ignition::math::Vector3d lastRefLinVel
 
ignition::math::Vector3d linAcc
 
std::string nedFrameID
 
ros::Publisher nedOdomPub
 
ignition::math::Pose3d nedTransform
 
bool nedTransformIsInit
 
ignition::math::Pose3d offset
 Pose offset. More...
 
bool publishNEDOdom
 
ignition::math::Vector3d refAngAcc
 
ignition::math::Vector3d refLinAcc
 
tf2_ros::Buffer tfBuffer
 
boost::shared_ptr< tf2_ros::TransformListenertfListener
 
- 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 40 of file PoseGTROSPlugin.hh.

Constructor & Destructor Documentation

gazebo::PoseGTROSPlugin::PoseGTROSPlugin ( )

Class constructor.

Definition at line 31 of file PoseGTROSPlugin.cc.

gazebo::PoseGTROSPlugin::~PoseGTROSPlugin ( )

Class destructor.

Definition at line 46 of file PoseGTROSPlugin.cc.

Member Function Documentation

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

Load the plugin.

Reimplemented from gazebo::ROSBaseModelPlugin.

Definition at line 50 of file PoseGTROSPlugin.cc.

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

Update sensor measurement.

Reimplemented from gazebo::ROSBaseModelPlugin.

Definition at line 96 of file PoseGTROSPlugin.cc.

void gazebo::PoseGTROSPlugin::PublishNEDOdomMessage ( common::Time  _time,
ignition::math::Pose3d  _pose,
ignition::math::Vector3d  _linVel,
ignition::math::Vector3d  _angVel 
)
protected

Definition at line 241 of file PoseGTROSPlugin.cc.

void gazebo::PoseGTROSPlugin::PublishOdomMessage ( common::Time  _time,
ignition::math::Pose3d  _pose,
ignition::math::Vector3d  _linVel,
ignition::math::Vector3d  _angVel 
)
protected

Definition at line 187 of file PoseGTROSPlugin.cc.

void gazebo::PoseGTROSPlugin::UpdateNEDTransform ( )
protected

Definition at line 312 of file PoseGTROSPlugin.cc.

Member Data Documentation

ignition::math::Vector3d gazebo::PoseGTROSPlugin::angAcc
protected

Definition at line 84 of file PoseGTROSPlugin.hh.

ignition::math::Vector3d gazebo::PoseGTROSPlugin::lastAngVel
protected

Definition at line 82 of file PoseGTROSPlugin.hh.

ignition::math::Vector3d gazebo::PoseGTROSPlugin::lastLinVel
protected

Definition at line 81 of file PoseGTROSPlugin.hh.

ignition::math::Vector3d gazebo::PoseGTROSPlugin::lastRefAngVel
protected

Definition at line 86 of file PoseGTROSPlugin.hh.

ignition::math::Vector3d gazebo::PoseGTROSPlugin::lastRefLinVel
protected

Definition at line 85 of file PoseGTROSPlugin.hh.

ignition::math::Vector3d gazebo::PoseGTROSPlugin::linAcc
protected

Definition at line 83 of file PoseGTROSPlugin.hh.

std::string gazebo::PoseGTROSPlugin::nedFrameID
protected

Definition at line 69 of file PoseGTROSPlugin.hh.

ros::Publisher gazebo::PoseGTROSPlugin::nedOdomPub
protected

Definition at line 64 of file PoseGTROSPlugin.hh.

ignition::math::Pose3d gazebo::PoseGTROSPlugin::nedTransform
protected

Definition at line 71 of file PoseGTROSPlugin.hh.

bool gazebo::PoseGTROSPlugin::nedTransformIsInit
protected

Definition at line 73 of file PoseGTROSPlugin.hh.

ignition::math::Pose3d gazebo::PoseGTROSPlugin::offset
protected

Pose offset.

Definition at line 67 of file PoseGTROSPlugin.hh.

bool gazebo::PoseGTROSPlugin::publishNEDOdom
protected

Definition at line 75 of file PoseGTROSPlugin.hh.

ignition::math::Vector3d gazebo::PoseGTROSPlugin::refAngAcc
protected

Definition at line 88 of file PoseGTROSPlugin.hh.

ignition::math::Vector3d gazebo::PoseGTROSPlugin::refLinAcc
protected

Definition at line 87 of file PoseGTROSPlugin.hh.

tf2_ros::Buffer gazebo::PoseGTROSPlugin::tfBuffer
protected

Definition at line 77 of file PoseGTROSPlugin.hh.

boost::shared_ptr<tf2_ros::TransformListener> gazebo::PoseGTROSPlugin::tfListener
protected

Definition at line 79 of file PoseGTROSPlugin.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