This plugin is used to create rosbag files from within gazebo. More...

#include <gazebo_bag_plugin.h>

Inheritance diagram for gazebo::GazeboBagPlugin:

Public Member Functions
	GazeboBagPlugin ()

virtual	~GazeboBagPlugin ()

Protected Member Functions
void	ActuatorsCallback (const mav_msgs::ActuatorsConstPtr &control_msg)
	Called when a Actuators message is received. More...

void	AttitudeThrustCallback (const mav_msgs::AttitudeThrustConstPtr &control_msg)
	Called when a AttitudeThrust message is received. More...

void	CommandPoseCallback (const geometry_msgs::PoseStampedConstPtr &pose_msg)
	Called when a PoseStamped message is received. More...

void	ExternalForceCallback (const geometry_msgs::WrenchStampedConstPtr &force_msg)
	Called when an WrenchStamped message is received. More...

void	ImuCallback (const sensor_msgs::ImuConstPtr &imu_msg)
	Called when an IMU message is received. More...

void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Load the plugin. More...

void	LogGroundTruth (const common::Time now)
	Log the ground truth pose and twist. More...

void	LogMotorVelocities (const common::Time now)
	Log all the motor velocities. More...

void	LogWrenches (const common::Time now)
	Log all the wrenches. More...

void	OnUpdate (const common::UpdateInfo &)
	Called when the world is updated. More...

void	RateThrustCallback (const mav_msgs::RateThrustConstPtr &control_msg)
	Called when a RateThrust message is received. More...

bool	RecordingServiceCallback (rotors_comm::RecordRosbag::Request &req, rotors_comm::RecordRosbag::Response &res)
	Called when a request to start or stop recording is received. More...

void	StartRecording ()
	Starting recording the rosbag. More...

void	StopRecording ()
	Stop recording the rosbag. More...

void	WaypointCallback (const trajectory_msgs::MultiDOFJointTrajectoryConstPtr &trajectory_msg)
	Called when a MultiDOFJointTrajectoryPoint message is received. More...

void	WindSpeedCallback (const rotors_comm::WindSpeedConstPtr &wind_speed_msg)
	Called when a WindSpeed message is received. More...

Private Types
typedef std::map< const unsigned int, const physics::JointPtr >	MotorNumberToJointMap

typedef std::pair< const unsigned int, const physics::JointPtr >	MotorNumberToJointPair

Private Member Functions
template<class T >
void	writeBag (const std::string &topic, const ros::Time &time, const T &msg)

template<class T >
void	writeBag (const std::string &topic, const ros::Time &time, boost::shared_ptr< T const > const &msg)

Private Attributes
rosbag::Bag	bag_

std::string	bag_filename_

physics::Link_V	child_links_

ros::Subscriber	command_pose_sub_

std::string	command_pose_topic_

physics::ContactManager *	contact_mgr_
	Pointer to the ContactManager to get all collisions of this link and its children. More...

ros::Subscriber	control_attitude_thrust_sub_

std::string	control_attitude_thrust_topic_

ros::Subscriber	control_motor_speed_sub_

std::string	control_motor_speed_topic_

ros::Subscriber	control_rate_thrust_sub_

std::string	control_rate_thrust_topic_

std::ofstream	csvOut

ros::Subscriber	external_force_sub_

std::string	external_force_topic_

std::string	frame_id_

std::string	ground_truth_pose_topic_

std::string	ground_truth_twist_topic_

ros::Subscriber	imu_sub_

std::string	imu_topic_

bool	is_recording_
	Whether the plugin is currenly recording a rosbag. More...

physics::LinkPtr	link_

std::string	link_name_

physics::ModelPtr	model_

MotorNumberToJointMap	motor_joints_

std::string	motor_topic_

boost::mutex	mtx_
	Mutex lock for thread safety of writing bag files. More...

std::string	namespace_

ros::NodeHandle *	node_handle_

ros::ServiceServer	recording_service_

std::string	recording_service_name_

double	rotor_velocity_slowdown_sim_

event::ConnectionPtr	update_connection_
	Pointer to the update event connection. More...

bool	wait_to_record_
	Whether the plugin should wait for user command to start recording. More...

ros::Subscriber	waypoint_sub_

std::string	waypoint_topic_

ros::Subscriber	wind_speed_sub_

std::string	wind_speed_topic_

physics::WorldPtr	world_

std::string	wrench_topic_

Detailed Description

This plugin is used to create rosbag files from within gazebo.

This plugin is ROS dependent, and is not built if NO_ROS=TRUE is provided to CMakeLists.txt (as in the case of a PX4/Firmware build).

Definition at line 64 of file gazebo_bag_plugin.h.

Member Typedef Documentation

◆ MotorNumberToJointMap

typedef std::map<const unsigned int, const physics::JointPtr> gazebo::GazeboBagPlugin::MotorNumberToJointMap

private

Definition at line 65 of file gazebo_bag_plugin.h.

◆ MotorNumberToJointPair

typedef std::pair<const unsigned int, const physics::JointPtr> gazebo::GazeboBagPlugin::MotorNumberToJointPair

private

Definition at line 66 of file gazebo_bag_plugin.h.

Constructor & Destructor Documentation

◆ GazeboBagPlugin()

gazebo::GazeboBagPlugin::GazeboBagPlugin ( )

inline

Definition at line 68 of file gazebo_bag_plugin.h.

◆ ~GazeboBagPlugin()

gazebo::GazeboBagPlugin::~GazeboBagPlugin ( )

virtual

Definition at line 30 of file gazebo_bag_plugin.cpp.

Member Function Documentation

◆ ActuatorsCallback()

void gazebo::GazeboBagPlugin::ActuatorsCallback ( const mav_msgs::ActuatorsConstPtr & control_msg )

protected

Called when a Actuators message is received.

Parameters

[in] control_msg A Actuators message from mav_msgs.

Definition at line 293 of file gazebo_bag_plugin.cpp.

◆ AttitudeThrustCallback()

void gazebo::GazeboBagPlugin::AttitudeThrustCallback ( const mav_msgs::AttitudeThrustConstPtr & control_msg )

protected

Called when a AttitudeThrust message is received.

Parameters

[in] control_msg A AttitudeThrust message from mav_msgs.

Definition at line 285 of file gazebo_bag_plugin.cpp.

◆ CommandPoseCallback()

void gazebo::GazeboBagPlugin::CommandPoseCallback ( const geometry_msgs::PoseStampedConstPtr & pose_msg )

protected

Called when a PoseStamped message is received.

Parameters

[in] pose_msg A PoseStamped message from geometry_msgs.

Definition at line 278 of file gazebo_bag_plugin.cpp.

◆ ExternalForceCallback()

void gazebo::GazeboBagPlugin::ExternalForceCallback ( const geometry_msgs::WrenchStampedConstPtr & force_msg )

protected

Called when an WrenchStamped message is received.

Parameters

[in] force_msg A WrenchStamped message from geometry_msgs.

Definition at line 264 of file gazebo_bag_plugin.cpp.

◆ ImuCallback()

void gazebo::GazeboBagPlugin::ImuCallback ( const sensor_msgs::ImuConstPtr & imu_msg )

protected

Called when an IMU message is received.

Parameters

[in] imu_msg A IMU message from sensor_msgs.

Definition at line 258 of file gazebo_bag_plugin.cpp.

◆ Load()

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

protected

Load the plugin.

Parameters

[in]	_model	Pointer to the model that loaded this plugin.
[in]	_sdf	SDF element that describes the plugin.

Definition at line 39 of file gazebo_bag_plugin.cpp.

◆ LogGroundTruth()

void gazebo::GazeboBagPlugin::LogGroundTruth ( const common::Time now )

protected

Log the ground truth pose and twist.

Parameters

[in] now The current gazebo common::Time

Definition at line 332 of file gazebo_bag_plugin.cpp.

◆ LogMotorVelocities()

void gazebo::GazeboBagPlugin::LogMotorVelocities ( const common::Time now )

protected

Log all the motor velocities.

Parameters

[in] now The current gazebo common::Time

Definition at line 314 of file gazebo_bag_plugin.cpp.

◆ LogWrenches()

void gazebo::GazeboBagPlugin::LogWrenches ( const common::Time now )

protected

Log all the wrenches.

Parameters

[in] now The current gazebo common::Time

Definition at line 369 of file gazebo_bag_plugin.cpp.

◆ OnUpdate()

void gazebo::GazeboBagPlugin::OnUpdate ( const common::UpdateInfo & _info )

protected

Called when the world is updated.

Parameters

[in] _info Update timing information.

Definition at line 154 of file gazebo_bag_plugin.cpp.

◆ RateThrustCallback()

void gazebo::GazeboBagPlugin::RateThrustCallback ( const mav_msgs::RateThrustConstPtr & control_msg )

protected

Called when a RateThrust message is received.

Parameters

[in] control_msg A RateThrust message from mav_msgs.

Definition at line 300 of file gazebo_bag_plugin.cpp.

◆ RecordingServiceCallback()

bool gazebo::GazeboBagPlugin::RecordingServiceCallback	(	rotors_comm::RecordRosbag::Request &	req,
		rotors_comm::RecordRosbag::Response &	res
	)

protected

Called when a request to start or stop recording is received.

Parameters

[in]	req	The request to start or stop recording.
[out]	res	The response to be sent back to the client.

Definition at line 398 of file gazebo_bag_plugin.cpp.

◆ StartRecording()

void gazebo::GazeboBagPlugin::StartRecording ( )

protected

Starting recording the rosbag.

Definition at line 166 of file gazebo_bag_plugin.cpp.

◆ StopRecording()

void gazebo::GazeboBagPlugin::StopRecording ( )

protected

Stop recording the rosbag.

Definition at line 235 of file gazebo_bag_plugin.cpp.

◆ WaypointCallback()

void gazebo::GazeboBagPlugin::WaypointCallback ( const trajectory_msgs::MultiDOFJointTrajectoryConstPtr & trajectory_msg )

protected

Called when a MultiDOFJointTrajectoryPoint message is received.

Parameters

[in] trajectory_msg A MultiDOFJointTrajectoryPoint message from trajectory_msgs.

Definition at line 271 of file gazebo_bag_plugin.cpp.

◆ WindSpeedCallback()

void gazebo::GazeboBagPlugin::WindSpeedCallback ( const rotors_comm::WindSpeedConstPtr & wind_speed_msg )

protected

Called when a WindSpeed message is received.

Parameters

[in] wind_speed_msg A WindSpeed message from rotors_comm.

Definition at line 307 of file gazebo_bag_plugin.cpp.

◆ writeBag() [1/2]

template<class T >

void gazebo::GazeboBagPlugin::writeBag	(	const std::string &	topic,
		const ros::Time &	time,
		const T &	msg
	)

inlineprivate

Definition at line 226 of file gazebo_bag_plugin.h.

◆ writeBag() [2/2]

template<class T >

void gazebo::GazeboBagPlugin::writeBag	(	const std::string &	topic,
		const ros::Time &	time,
		boost::shared_ptr< T const > const &	msg
	)

inlineprivate

Definition at line 245 of file gazebo_bag_plugin.h.

Member Data Documentation

◆ bag_

rosbag::Bag gazebo::GazeboBagPlugin::bag_

private

Definition at line 207 of file gazebo_bag_plugin.h.

◆ bag_filename_

std::string gazebo::GazeboBagPlugin::bag_filename_

private

Definition at line 194 of file gazebo_bag_plugin.h.

◆ child_links_

physics::Link_V gazebo::GazeboBagPlugin::child_links_

private

Definition at line 171 of file gazebo_bag_plugin.h.

◆ command_pose_sub_

ros::Subscriber gazebo::GazeboBagPlugin::command_pose_sub_

private

Definition at line 218 of file gazebo_bag_plugin.h.

◆ command_pose_topic_

std::string gazebo::GazeboBagPlugin::command_pose_topic_

private

Definition at line 185 of file gazebo_bag_plugin.h.

◆ contact_mgr_

physics::ContactManager* gazebo::GazeboBagPlugin::contact_mgr_

private

Pointer to the ContactManager to get all collisions of this link and its children.

Definition at line 177 of file gazebo_bag_plugin.h.

◆ control_attitude_thrust_sub_

ros::Subscriber gazebo::GazeboBagPlugin::control_attitude_thrust_sub_

private

Definition at line 214 of file gazebo_bag_plugin.h.

◆ control_attitude_thrust_topic_

std::string gazebo::GazeboBagPlugin::control_attitude_thrust_topic_

private

Definition at line 186 of file gazebo_bag_plugin.h.

◆ control_motor_speed_sub_

ros::Subscriber gazebo::GazeboBagPlugin::control_motor_speed_sub_

private

Definition at line 215 of file gazebo_bag_plugin.h.

◆ control_motor_speed_topic_

std::string gazebo::GazeboBagPlugin::control_motor_speed_topic_

private

Definition at line 187 of file gazebo_bag_plugin.h.

◆ control_rate_thrust_sub_

ros::Subscriber gazebo::GazeboBagPlugin::control_rate_thrust_sub_

private

Definition at line 216 of file gazebo_bag_plugin.h.

◆ control_rate_thrust_topic_

std::string gazebo::GazeboBagPlugin::control_rate_thrust_topic_

private

Definition at line 188 of file gazebo_bag_plugin.h.

◆ csvOut

std::ofstream gazebo::GazeboBagPlugin::csvOut

private

Definition at line 223 of file gazebo_bag_plugin.h.

◆ external_force_sub_

ros::Subscriber gazebo::GazeboBagPlugin::external_force_sub_

private

Definition at line 212 of file gazebo_bag_plugin.h.

◆ external_force_topic_

std::string gazebo::GazeboBagPlugin::external_force_topic_

private

Definition at line 183 of file gazebo_bag_plugin.h.

◆ frame_id_

std::string gazebo::GazeboBagPlugin::frame_id_

private

Definition at line 192 of file gazebo_bag_plugin.h.

◆ ground_truth_pose_topic_

std::string gazebo::GazeboBagPlugin::ground_truth_pose_topic_

private

Definition at line 180 of file gazebo_bag_plugin.h.

◆ ground_truth_twist_topic_

std::string gazebo::GazeboBagPlugin::ground_truth_twist_topic_

private

Definition at line 181 of file gazebo_bag_plugin.h.

◆ imu_sub_

ros::Subscriber gazebo::GazeboBagPlugin::imu_sub_

private

Definition at line 211 of file gazebo_bag_plugin.h.

◆ imu_topic_

std::string gazebo::GazeboBagPlugin::imu_topic_

private

Definition at line 182 of file gazebo_bag_plugin.h.

◆ is_recording_

bool gazebo::GazeboBagPlugin::is_recording_

private

Whether the plugin is currenly recording a rosbag.

Definition at line 205 of file gazebo_bag_plugin.h.

◆ link_

physics::LinkPtr gazebo::GazeboBagPlugin::link_

private

Definition at line 169 of file gazebo_bag_plugin.h.

◆ link_name_

std::string gazebo::GazeboBagPlugin::link_name_

private

Definition at line 193 of file gazebo_bag_plugin.h.

◆ model_

physics::ModelPtr gazebo::GazeboBagPlugin::model_

private

Definition at line 168 of file gazebo_bag_plugin.h.

◆ motor_joints_

MotorNumberToJointMap gazebo::GazeboBagPlugin::motor_joints_

private

Definition at line 173 of file gazebo_bag_plugin.h.

◆ motor_topic_

std::string gazebo::GazeboBagPlugin::motor_topic_

private

Definition at line 191 of file gazebo_bag_plugin.h.

◆ mtx_

boost::mutex gazebo::GazeboBagPlugin::mtx_

private

Mutex lock for thread safety of writing bag files.

Definition at line 199 of file gazebo_bag_plugin.h.

◆ namespace_

std::string gazebo::GazeboBagPlugin::namespace_

private

Definition at line 179 of file gazebo_bag_plugin.h.

◆ node_handle_

ros::NodeHandle* gazebo::GazeboBagPlugin::node_handle_

private

Definition at line 208 of file gazebo_bag_plugin.h.

◆ recording_service_

ros::ServiceServer gazebo::GazeboBagPlugin::recording_service_

private

Definition at line 221 of file gazebo_bag_plugin.h.

◆ recording_service_name_

std::string gazebo::GazeboBagPlugin::recording_service_name_

private

Definition at line 195 of file gazebo_bag_plugin.h.

◆ rotor_velocity_slowdown_sim_

double gazebo::GazeboBagPlugin::rotor_velocity_slowdown_sim_

private

Definition at line 196 of file gazebo_bag_plugin.h.

◆ update_connection_

event::ConnectionPtr gazebo::GazeboBagPlugin::update_connection_

private

Pointer to the update event connection.

Definition at line 165 of file gazebo_bag_plugin.h.

◆ wait_to_record_

bool gazebo::GazeboBagPlugin::wait_to_record_

private

Whether the plugin should wait for user command to start recording.

Definition at line 202 of file gazebo_bag_plugin.h.

◆ waypoint_sub_

ros::Subscriber gazebo::GazeboBagPlugin::waypoint_sub_

private

Definition at line 213 of file gazebo_bag_plugin.h.

◆ waypoint_topic_

std::string gazebo::GazeboBagPlugin::waypoint_topic_

private

Definition at line 184 of file gazebo_bag_plugin.h.

◆ wind_speed_sub_

ros::Subscriber gazebo::GazeboBagPlugin::wind_speed_sub_

private

Definition at line 217 of file gazebo_bag_plugin.h.

◆ wind_speed_topic_

std::string gazebo::GazeboBagPlugin::wind_speed_topic_

private

Definition at line 189 of file gazebo_bag_plugin.h.

◆ world_

physics::WorldPtr gazebo::GazeboBagPlugin::world_

private

Definition at line 167 of file gazebo_bag_plugin.h.

◆ wrench_topic_

std::string gazebo::GazeboBagPlugin::wrench_topic_

private

Definition at line 190 of file gazebo_bag_plugin.h.

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

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ MotorNumberToJointMap

◆ MotorNumberToJointPair

Constructor & Destructor Documentation

◆ GazeboBagPlugin()

◆ ~GazeboBagPlugin()

Member Function Documentation

◆ ActuatorsCallback()

◆ AttitudeThrustCallback()

◆ CommandPoseCallback()

◆ ExternalForceCallback()

◆ ImuCallback()

◆ Load()

◆ LogGroundTruth()

◆ LogMotorVelocities()

◆ LogWrenches()

◆ OnUpdate()

◆ RateThrustCallback()

◆ RecordingServiceCallback()

◆ StartRecording()

◆ StopRecording()

◆ WaypointCallback()

◆ WindSpeedCallback()

◆ writeBag() [1/2]

◆ writeBag() [2/2]

Member Data Documentation

◆ bag_

◆ bag_filename_

◆ child_links_

◆ command_pose_sub_

◆ command_pose_topic_

◆ contact_mgr_

◆ control_attitude_thrust_sub_

◆ control_attitude_thrust_topic_

◆ control_motor_speed_sub_

◆ control_motor_speed_topic_

◆ control_rate_thrust_sub_

◆ control_rate_thrust_topic_

◆ csvOut

◆ external_force_sub_

◆ external_force_topic_

◆ frame_id_

◆ ground_truth_pose_topic_

◆ ground_truth_twist_topic_

◆ imu_sub_

◆ imu_topic_

◆ is_recording_

◆ link_

◆ link_name_

◆ model_

◆ motor_joints_

◆ motor_topic_

◆ mtx_

◆ namespace_

◆ node_handle_

◆ recording_service_

◆ recording_service_name_

◆ rotor_velocity_slowdown_sim_

◆ update_connection_

◆ wait_to_record_

◆ waypoint_sub_

◆ waypoint_topic_

◆ wind_speed_sub_

◆ wind_speed_topic_

◆ world_

◆ wrench_topic_