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

#include <gazebo_ros_force.h>

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

Public Member Functions

 GazeboRosForce ()
 Constructor. More...
 
virtual ~GazeboRosForce ()
 Destructor. More...
 

Protected Member Functions

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

Private Member Functions

void QueueThread ()
 The custom callback queue thread function. More...
 
void UpdateObjectForce (const geometry_msgs::Wrench::ConstPtr &_msg)
 call back when a Wrench message is published More...
 

Private Attributes

boost::thread callback_queue_thread_
 Thead object for the running callback Thread. More...
 
physics::LinkPtr link_
 A pointer to the Link, where force is applied. More...
 
std::string link_name_
 The Link this plugin is attached to, and will exert forces on. More...
 
boost::mutex lock_
 A mutex to lock access to fields that are used in ROS message callbacks. More...
 
ros::CallbackQueue queue_
 
std::string robot_namespace_
 for setting ROS name space More...
 
ros::NodeHandlerosnode_
 A pointer to the ROS node. A node will be instantiated if it does not exist. More...
 
ros::Subscriber sub_
 
std::string topic_name_
 ROS Wrench topic name inputs. More...
 
event::ConnectionPtr update_connection_
 
physics::WorldPtr world_
 A pointer to the gazebo world. More...
 
geometry_msgs::Wrench wrench_msg_
 Container for the wrench force that this plugin exerts on the body. More...
 

Detailed Description

Definition at line 71 of file gazebo_ros_force.h.

Constructor & Destructor Documentation

◆ GazeboRosForce()

gazebo::GazeboRosForce::GazeboRosForce ( )

Constructor.

Definition at line 35 of file gazebo_ros_force.cpp.

◆ ~GazeboRosForce()

gazebo::GazeboRosForce::~GazeboRosForce ( )
virtual

Destructor.

Definition at line 47 of file gazebo_ros_force.cpp.

Member Function Documentation

◆ Load()

void gazebo::GazeboRosForce::Load ( physics::ModelPtr  _model,
sdf::ElementPtr  _sdf 
)
protected

Definition at line 62 of file gazebo_ros_force.cpp.

◆ QueueThread()

void gazebo::GazeboRosForce::QueueThread ( )
private

The custom callback queue thread function.

Definition at line 157 of file gazebo_ros_force.cpp.

◆ UpdateChild()

void gazebo::GazeboRosForce::UpdateChild ( )
protectedvirtual

Definition at line 144 of file gazebo_ros_force.cpp.

◆ UpdateObjectForce()

void gazebo::GazeboRosForce::UpdateObjectForce ( const geometry_msgs::Wrench::ConstPtr &  _msg)
private

call back when a Wrench message is published

Parameters
[in]_msgThe Incoming ROS message representing the new force to exert.

Definition at line 132 of file gazebo_ros_force.cpp.

Member Data Documentation

◆ callback_queue_thread_

boost::thread gazebo::GazeboRosForce::callback_queue_thread_
private

Thead object for the running callback Thread.

Definition at line 116 of file gazebo_ros_force.h.

◆ link_

physics::LinkPtr gazebo::GazeboRosForce::link_
private

A pointer to the Link, where force is applied.

Definition at line 96 of file gazebo_ros_force.h.

◆ link_name_

std::string gazebo::GazeboRosForce::link_name_
private

The Link this plugin is attached to, and will exert forces on.

Definition at line 108 of file gazebo_ros_force.h.

◆ lock_

boost::mutex gazebo::GazeboRosForce::lock_
private

A mutex to lock access to fields that are used in ROS message callbacks.

Definition at line 103 of file gazebo_ros_force.h.

◆ queue_

ros::CallbackQueue gazebo::GazeboRosForce::queue_
private

Definition at line 114 of file gazebo_ros_force.h.

◆ robot_namespace_

std::string gazebo::GazeboRosForce::robot_namespace_
private

for setting ROS name space

Definition at line 111 of file gazebo_ros_force.h.

◆ rosnode_

ros::NodeHandle* gazebo::GazeboRosForce::rosnode_
private

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 99 of file gazebo_ros_force.h.

◆ sub_

ros::Subscriber gazebo::GazeboRosForce::sub_
private

Definition at line 100 of file gazebo_ros_force.h.

◆ topic_name_

std::string gazebo::GazeboRosForce::topic_name_
private

ROS Wrench topic name inputs.

Definition at line 106 of file gazebo_ros_force.h.

◆ update_connection_

event::ConnectionPtr gazebo::GazeboRosForce::update_connection_
private

Definition at line 121 of file gazebo_ros_force.h.

◆ world_

physics::WorldPtr gazebo::GazeboRosForce::world_
private

A pointer to the gazebo world.

Definition at line 93 of file gazebo_ros_force.h.

◆ wrench_msg_

geometry_msgs::Wrench gazebo::GazeboRosForce::wrench_msg_
private

Container for the wrench force that this plugin exerts on the body.

Definition at line 118 of file gazebo_ros_force.h.


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


gazebo_plugins
Author(s): John Hsu
autogenerated on Wed Aug 24 2022 02:47:52