Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
gazebo::ROSBasePlugin Class Referenceabstract

#include <ROSBasePlugin.hh>

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

Public Member Functions

bool AddNoiseModel (std::string _name, double _sigma)
 Add noise normal distribution to the list. More...
 
bool InitBasePlugin (sdf::ElementPtr _sdf)
 Initialize base plugin. More...
 
virtual bool OnUpdate (const common::UpdateInfo &)=0
 Update callback from simulation. More...
 
 ROSBasePlugin ()
 Class constructor. More...
 
virtual ~ROSBasePlugin ()
 Class destructor. More...
 

Protected Member Functions

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

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 39 of file ROSBasePlugin.hh.

Constructor & Destructor Documentation

gazebo::ROSBasePlugin::ROSBasePlugin ( )

Class constructor.

Definition at line 21 of file ROSBasePlugin.cc.

gazebo::ROSBasePlugin::~ROSBasePlugin ( )
virtual

Class destructor.

Definition at line 37 of file ROSBasePlugin.cc.

Member Function Documentation

bool gazebo::ROSBasePlugin::AddNoiseModel ( std::string  _name,
double  _sigma 
)

Add noise normal distribution to the list.

Definition at line 214 of file ROSBasePlugin.cc.

bool gazebo::ROSBasePlugin::ChangeSensorState ( uuv_sensor_ros_plugins_msgs::ChangeSensorState::Request &  _req,
uuv_sensor_ros_plugins_msgs::ChangeSensorState::Response &  _res 
)
protected

Change sensor state (ON/OFF)

Definition at line 176 of file ROSBasePlugin.cc.

bool gazebo::ROSBasePlugin::EnableMeasurement ( const common::UpdateInfo &  _info) const
protected

Enables generation of simulated measurement if the timeout since the last update has been reached.

Definition at line 231 of file ROSBasePlugin.cc.

double gazebo::ROSBasePlugin::GetGaussianNoise ( double  _amp)
protected

Returns noise value for a function with zero mean from the default Gaussian noise model.

Definition at line 200 of file ROSBasePlugin.cc.

double gazebo::ROSBasePlugin::GetGaussianNoise ( std::string  _name,
double  _amp 
)
protected

Returns noise value for a function with zero mean from a Gaussian noise model according to the model name.

Definition at line 206 of file ROSBasePlugin.cc.

void gazebo::ROSBasePlugin::GetTFMessage ( const tf::tfMessage::ConstPtr &  _msg)
protected

Callback function for the static TF message.

Definition at line 147 of file ROSBasePlugin.cc.

bool gazebo::ROSBasePlugin::InitBasePlugin ( sdf::ElementPtr  _sdf)

Initialize base plugin.

Definition at line 46 of file ROSBasePlugin.cc.

bool gazebo::ROSBasePlugin::IsOn ( )
protected

Returns true if the plugin is activated.

Definition at line 225 of file ROSBasePlugin.cc.

virtual bool gazebo::ROSBasePlugin::OnUpdate ( const common::UpdateInfo &  )
pure virtual
void gazebo::ROSBasePlugin::PublishState ( )
protected

Publish the current state of the plugin.

Definition at line 194 of file ROSBasePlugin.cc.

void gazebo::ROSBasePlugin::UpdateReferenceFramePose ( )
protected

Updates the pose of the reference frame wrt the world frame.

Definition at line 240 of file ROSBasePlugin.cc.

Member Data Documentation

ros::ServiceServer gazebo::ROSBasePlugin::changeSensorSrv
protected

Service server object.

Definition at line 108 of file ROSBasePlugin.hh.

bool gazebo::ROSBasePlugin::gazeboMsgEnabled
protected

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.

Definition at line 83 of file ROSBasePlugin.hh.

transport::NodePtr gazebo::ROSBasePlugin::gazeboNode
protected

Gazebo's node handle for transporting measurement messages.

Definition at line 99 of file ROSBasePlugin.hh.

transport::PublisherPtr gazebo::ROSBasePlugin::gazeboSensorOutputPub
protected

Gazebo's publisher for transporting measurement messages.

Definition at line 105 of file ROSBasePlugin.hh.

std_msgs::Bool gazebo::ROSBasePlugin::isOn
protected

Flag to control the generation of output messages.

Definition at line 93 of file ROSBasePlugin.hh.

bool gazebo::ROSBasePlugin::isReferenceInit
protected

Flag set to true if reference frame initialized.

Definition at line 123 of file ROSBasePlugin.hh.

common::Time gazebo::ROSBasePlugin::lastMeasurementTime
protected

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

Definition at line 69 of file ROSBasePlugin.hh.

double gazebo::ROSBasePlugin::noiseAmp
protected

Noise amplitude.

Definition at line 78 of file ROSBasePlugin.hh.

std::map<std::string, std::normal_distribution<double> > gazebo::ROSBasePlugin::noiseModels
protected

Normal distribution describing the noise models.

Definition at line 90 of file ROSBasePlugin.hh.

double gazebo::ROSBasePlugin::noiseSigma
protected

Noise standard deviation.

Definition at line 75 of file ROSBasePlugin.hh.

ros::Publisher gazebo::ROSBasePlugin::pluginStatePub
protected

ROS publisher for the switchable sensor data.

Definition at line 111 of file ROSBasePlugin.hh.

ignition::math::Pose3d gazebo::ROSBasePlugin::referenceFrame
protected

Pose of the reference frame wrt world frame.

Definition at line 114 of file ROSBasePlugin.hh.

std::string gazebo::ROSBasePlugin::referenceFrameID
protected

Frame ID of the reference frame.

Definition at line 120 of file ROSBasePlugin.hh.

physics::LinkPtr gazebo::ROSBasePlugin::referenceLink
protected

Reference link.

Definition at line 126 of file ROSBasePlugin.hh.

std::default_random_engine gazebo::ROSBasePlugin::rndGen
protected

Pseudo random number generator.

Definition at line 86 of file ROSBasePlugin.hh.

std::string gazebo::ROSBasePlugin::robotNamespace
protected

Robot namespace.

Definition at line 57 of file ROSBasePlugin.hh.

boost::shared_ptr<ros::NodeHandle> gazebo::ROSBasePlugin::rosNode
protected

ROS node handle for communication with ROS.

Definition at line 96 of file ROSBasePlugin.hh.

ros::Publisher gazebo::ROSBasePlugin::rosSensorOutputPub
protected

Gazebo's publisher for transporting measurement messages.

Definition at line 102 of file ROSBasePlugin.hh.

std::string gazebo::ROSBasePlugin::sensorOutputTopic
protected

Name of the sensor's output topic.

Definition at line 60 of file ROSBasePlugin.hh.

ros::Subscriber gazebo::ROSBasePlugin::tfStaticSub
protected

ROS subscriber for the TF static reference frame.

Definition at line 117 of file ROSBasePlugin.hh.

event::ConnectionPtr gazebo::ROSBasePlugin::updateConnection
protected

Pointer to the update event connection.

Definition at line 66 of file ROSBasePlugin.hh.

double gazebo::ROSBasePlugin::updateRate
protected

Sensor update rate.

Definition at line 72 of file ROSBasePlugin.hh.

physics::WorldPtr gazebo::ROSBasePlugin::world
protected

Pointer to the world.

Definition at line 63 of file ROSBasePlugin.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