gazebo::GazeboRosBlockLaser Class Reference
[ROS Block Laser Scanner Controller Plugin]

ROS laser block simulation. More...

#include <gazebo_ros_block_laser.h>

List of all members.

Public Member Functions
	GazeboRosBlockLaser (Entity *parent)
	Constructor.
virtual	~GazeboRosBlockLaser ()
	Destructor.
Protected Member Functions
virtual void	FiniChild ()
	Finalize the controller.
virtual void	InitChild ()
	Init the controller.
virtual void	LoadChild (XMLConfigNode *node)
	Load the controller.
virtual void	UpdateChild ()
	Update the controller.
Private Member Functions
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator.
void	LaserConnect ()
void	LaserDisconnect ()
void	PutLaserData ()
	Put laser data to the ROS topic.
void	QueueThread ()
Private Attributes
boost::thread	callback_queue_thread_
sensor_msgs::PointCloud	cloudMsg
	ros message
std::string	frameName
ParamT< std::string > *	frameNameP
	frame transform name, should match link name
double	gaussianNoise
ParamT< double > *	gaussianNoiseP
	Gaussian noise.
int	laserConnectCount
	Keep track of number of connctions.
boost::mutex	lock
	A mutex to lock access to fields that are used in message callbacks.
RaySensor *	myParent
	The parent sensor.
ros::Publisher	pub_
ros::CallbackQueue	queue_
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
	for setting ROS name space
ros::NodeHandle *	rosnode_
	pointer to ros node
std::string	topicName
ParamT< std::string > *	topicNameP
	topic name

---

Detailed Description

ROS laser block simulation.

• Starts a ROS node if none exists.
• This controller simulates a block of laser range detections. Resulting point cloud (sensor_msgs::PointCloud.msg) is published as a ROS topic.
• Example Usage:

      <model:physical name="ray_model">
        <body:empty name="ray_body_name">
          <sensor:ray name="ray_sensor">
            <rayCount>30</rayCount>
            <rangeCount>30</rangeCount>
            <laserCount>1</laserCount>
            
            <origin>0.0 0.0 0.05</origin>
            <displayRays>false</displayRays>
            
            <minAngle>-15</minAngle>
            <maxAngle> 15</maxAngle>
            
            <minRange>0.05</minRange>
            <maxRange>100.0</maxRange>
            <updateRate>10.0</updateRate>
  
            <verticalRayCount>30</verticalRayCount>
            <verticalRangeCount>30</verticalRangeCount>
            <verticalMinAngle>-20</verticalMinAngle>
            <verticalMaxAngle>  0</verticalMaxAngle>
  
            <controller:gazebo_ros_block_laser name="ray_block_controller" plugin="libgazebo_ros_block_laser.so">
              <gaussianNoise>0.005</gaussianNoise>
              <alwaysOn>true</alwaysOn>
              <updateRate>10.0</updateRate>
              <topicName>full_cloud</topicName>
              <frameName>ray_model</frameName>
              <interface:laser name="ray_block_iface" />
            </controller:gazebo_ros_block_laser>
          </sensor:ray>
        </body:empty>
      </model:phyiscal>
    

Definition at line 136 of file gazebo_ros_block_laser.h.

---

Constructor & Destructor Documentation

GazeboRosBlockLaser::GazeboRosBlockLaser

(

Entity *

parent

)

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 53 of file gazebo_ros_block_laser.cpp.

GazeboRosBlockLaser::~GazeboRosBlockLaser

(

)

[virtual]

Destructor.

Definition at line 71 of file gazebo_ros_block_laser.cpp.

---

Member Function Documentation

void GazeboRosBlockLaser::FiniChild

(

)

[protected, virtual]

Finalize the controller.

Definition at line 162 of file gazebo_ros_block_laser.cpp.

double GazeboRosBlockLaser::GaussianKernel	(	double	mu,
		double	sigma
	)			[private]

Gaussian noise generator.

Definition at line 305 of file gazebo_ros_block_laser.cpp.

void GazeboRosBlockLaser::InitChild

(

)

[protected, virtual]

Init the controller.

Definition at line 134 of file gazebo_ros_block_laser.cpp.

void GazeboRosBlockLaser::LaserConnect

(

)

[private]

Definition at line 119 of file gazebo_ros_block_laser.cpp.

void GazeboRosBlockLaser::LaserDisconnect

(

)

[private]

Definition at line 125 of file gazebo_ros_block_laser.cpp.

void GazeboRosBlockLaser::LoadChild

(

XMLConfigNode *

node

)

[protected, virtual]

Load the controller.

Parameters:

node

XML config node

Definition at line 82 of file gazebo_ros_block_laser.cpp.

void GazeboRosBlockLaser::PutLaserData

(

)

[private]

Put laser data to the ROS topic.

Definition at line 173 of file gazebo_ros_block_laser.cpp.

void GazeboRosBlockLaser::QueueThread

(

)

[private]

Definition at line 322 of file gazebo_ros_block_laser.cpp.

void GazeboRosBlockLaser::UpdateChild

(

)

[protected, virtual]

Update the controller.

Definition at line 144 of file gazebo_ros_block_laser.cpp.

---

Member Data Documentation

boost::thread gazebo::GazeboRosBlockLaser::callback_queue_thread_ [private]

Definition at line 203 of file gazebo_ros_block_laser.h.

sensor_msgs::PointCloud gazebo::GazeboRosBlockLaser::cloudMsg [private]

ros message

Definition at line 174 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::frameName [private]

Definition at line 183 of file gazebo_ros_block_laser.h.

ParamT<std::string>* gazebo::GazeboRosBlockLaser::frameNameP [private]

frame transform name, should match link name

FIXME: extract link name directly?

Definition at line 182 of file gazebo_ros_block_laser.h.

double gazebo::GazeboRosBlockLaser::gaussianNoise [private]

Definition at line 187 of file gazebo_ros_block_laser.h.

ParamT<double>* gazebo::GazeboRosBlockLaser::gaussianNoiseP [private]

Gaussian noise.

Definition at line 186 of file gazebo_ros_block_laser.h.

int gazebo::GazeboRosBlockLaser::laserConnectCount [private]

Keep track of number of connctions.

Definition at line 162 of file gazebo_ros_block_laser.h.

boost::mutex gazebo::GazeboRosBlockLaser::lock [private]

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

Definition at line 193 of file gazebo_ros_block_laser.h.

RaySensor* gazebo::GazeboRosBlockLaser::myParent [private]

The parent sensor.

Definition at line 167 of file gazebo_ros_block_laser.h.

ros::Publisher gazebo::GazeboRosBlockLaser::pub_ [private]

Definition at line 171 of file gazebo_ros_block_laser.h.

ros::CallbackQueue gazebo::GazeboRosBlockLaser::queue_ [private]

Definition at line 201 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::robotNamespace [private]

Definition at line 198 of file gazebo_ros_block_laser.h.

ParamT<std::string>* gazebo::GazeboRosBlockLaser::robotNamespaceP [private]

for setting ROS name space

Definition at line 197 of file gazebo_ros_block_laser.h.

ros::NodeHandle* gazebo::GazeboRosBlockLaser::rosnode_ [private]

pointer to ros node

Definition at line 170 of file gazebo_ros_block_laser.h.

std::string gazebo::GazeboRosBlockLaser::topicName [private]

Definition at line 178 of file gazebo_ros_block_laser.h.

ParamT<std::string>* gazebo::GazeboRosBlockLaser::topicNameP [private]

topic name

Definition at line 177 of file gazebo_ros_block_laser.h.

---

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

• gazebo_ros_block_laser.h
• gazebo_ros_block_laser.cpp