gazebo::GazeboRosIMU Class Reference
[Groud Truth Position Pose and Rates Interface]

GazeboRosIMU controller. More...

#include <gazebo_ros_imu.h>

List of all members.

Public Member Functions
	GazeboRosIMU (Entity *parent)
	Constructor.
virtual	~GazeboRosIMU ()
	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
void	DeprecatedIMUConnect ()
void	DeprecatedIMUDisconnect ()
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator.
void	IMUConnect ()
void	IMUDisconnect ()
bool	ServiceCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	call back when using service
Private Attributes
Vector3	aeul
Vector3	apos
std::string	bodyName
ParamT< std::string > *	bodyNameP
	store bodyname
ros::Publisher	deprecated_pub_
int	deprecatedImuConnectCount
std::string	deprecatedTopicName
ParamT< std::string > *	deprecatedTopicNameP
ParamT< std::string > *	frameNameP
	frame transform name, should match link name deprecating this field for imu blocks. give warning and explaination if this is specified
double	gaussianNoise
ParamT< double > *	gaussianNoiseP
	Gaussian noise.
int	imuConnectCount
	Keep track of number of connctions.
sensor_msgs::Imu	imuMsg
	ros message
Pose3d	initial_pose
Time	last_time
	save last_time
Vector3	last_veul
Vector3	last_vpos
boost::mutex	lock
	A mutex to lock access to fields that are used in message callbacks.
Body *	myBody
	The parent Model.
Model *	myParent
	The parent Model.
ros::Publisher	pub_
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
	for setting ROS name space
ros::NodeHandle *	rosnode_
	pointer to ros node
Vector3	rpyOffsets
ParamT< Vector3 > *	rpyOffsetsP
std::string	serviceName
ParamT< std::string > *	serviceNameP
ros::ServiceServer	srv_
std::string	topicName
ParamT< std::string > *	topicNameP
	topic name
Vector3	xyzOffsets
ParamT< Vector3 > *	xyzOffsetsP
	allow specifying constant xyz and rpy offsets

Detailed Description

GazeboRosIMU controller.

Starts a ROS node if none exists.
This controller simulates a 6 dof position and rate sensor, publishes sensor_msgs::Imu.msg ROS topic.

Example Usage:

     <model:physical name="some_fancy_model">
       <controller:gazebo_ros_imu name="imu_controller" plugin="libgazebo_ros_imu.so">
         <alwaysOn>true</alwaysOn>
         <updateRate>1000.0</updateRate>
         <bodyName>body_name</bodyName>
         <topicName>body_pose_ground_truth</topicName>
         <xyzOffsets>25.65 25.65 0</xyzOffsets> <!-- option to initialize odometry for fake localization-->
         <rpyOffsets>0 0 0</rpyOffsets>
         <interface:position name="imu_position_iface"/>
       </controller:gazebo_ros_imu>
     </model:phyiscal>

Definition at line 96 of file gazebo_ros_imu.h.

Constructor & Destructor Documentation

GazeboRosIMU::GazeboRosIMU ( Entity * parent )

Constructor.

Definition at line 46 of file gazebo_ros_imu.cpp.

GazeboRosIMU::~GazeboRosIMU ( ) [virtual]

Destructor.

Definition at line 72 of file gazebo_ros_imu.cpp.

Member Function Documentation

void GazeboRosIMU::DeprecatedIMUConnect ( ) [private]

Definition at line 186 of file gazebo_ros_imu.cpp.

void GazeboRosIMU::DeprecatedIMUDisconnect ( ) [private]

Definition at line 194 of file gazebo_ros_imu.cpp.

void GazeboRosIMU::FiniChild ( ) [protected, virtual]

Finalize the controller.

Definition at line 328 of file gazebo_ros_imu.cpp.

double GazeboRosIMU::GaussianKernel	(	double	mu,
		double	sigma
	)			`[private]`

Gaussian noise generator.

Definition at line 336 of file gazebo_ros_imu.cpp.

void GazeboRosIMU::IMUConnect ( ) [private]

Definition at line 173 of file gazebo_ros_imu.cpp.

void GazeboRosIMU::IMUDisconnect ( ) [private]

Definition at line 179 of file gazebo_ros_imu.cpp.

void GazeboRosIMU::InitChild ( ) [protected, virtual]

Init the controller.

Definition at line 202 of file gazebo_ros_imu.cpp.

void GazeboRosIMU::LoadChild ( XMLConfigNode * node ) [protected, virtual]

Load the controller.

Parameters:

node

XML config node

Definition at line 88 of file gazebo_ros_imu.cpp.

bool GazeboRosIMU::ServiceCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)			`[private]`

call back when using service

Definition at line 165 of file gazebo_ros_imu.cpp.

void GazeboRosIMU::UpdateChild ( ) [protected, virtual]

Update the controller.

Todo:: : let user set separate linear and angular covariance values.

Todo:: : apply appropriate rotations from frame_pose

Definition at line 218 of file gazebo_ros_imu.cpp.

Member Data Documentation

Vector3 gazebo::GazeboRosIMU::aeul [private]

Definition at line 160 of file gazebo_ros_imu.h.

Vector3 gazebo::GazeboRosIMU::apos [private]

Definition at line 159 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::bodyName [private]

Definition at line 133 of file gazebo_ros_imu.h.

ParamT<std::string>* gazebo::GazeboRosIMU::bodyNameP [private]

store bodyname

Definition at line 132 of file gazebo_ros_imu.h.

ros::Publisher gazebo::GazeboRosIMU::deprecated_pub_ [private]

Definition at line 126 of file gazebo_ros_imu.h.

int gazebo::GazeboRosIMU::deprecatedImuConnectCount [private]

Definition at line 178 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::deprecatedTopicName [private]

Definition at line 144 of file gazebo_ros_imu.h.

ParamT<std::string>* gazebo::GazeboRosIMU::deprecatedTopicNameP [private]

Definition at line 143 of file gazebo_ros_imu.h.

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

frame transform name, should match link name deprecating this field for imu blocks. give warning and explaination if this is specified

Definition at line 138 of file gazebo_ros_imu.h.

double gazebo::GazeboRosIMU::gaussianNoise [private]

Definition at line 165 of file gazebo_ros_imu.h.

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

Gaussian noise.

Definition at line 164 of file gazebo_ros_imu.h.

int gazebo::GazeboRosIMU::imuConnectCount [private]

Keep track of number of connctions.

Definition at line 175 of file gazebo_ros_imu.h.

sensor_msgs::Imu gazebo::GazeboRosIMU::imuMsg [private]

ros message

Definition at line 129 of file gazebo_ros_imu.h.

Pose3d gazebo::GazeboRosIMU::initial_pose [private]

Definition at line 161 of file gazebo_ros_imu.h.

Time gazebo::GazeboRosIMU::last_time [private]

save last_time

Definition at line 156 of file gazebo_ros_imu.h.

Vector3 gazebo::GazeboRosIMU::last_veul [private]

Definition at line 158 of file gazebo_ros_imu.h.

Vector3 gazebo::GazeboRosIMU::last_vpos [private]

Definition at line 157 of file gazebo_ros_imu.h.

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

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

Definition at line 153 of file gazebo_ros_imu.h.

Body* gazebo::GazeboRosIMU::myBody [private]

The parent Model.

Definition at line 121 of file gazebo_ros_imu.h.

Model* gazebo::GazeboRosIMU::myParent [private]

The parent Model.

Definition at line 118 of file gazebo_ros_imu.h.

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

Definition at line 125 of file gazebo_ros_imu.h.

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

Definition at line 172 of file gazebo_ros_imu.h.

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

for setting ROS name space

Definition at line 171 of file gazebo_ros_imu.h.

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

pointer to ros node

Definition at line 124 of file gazebo_ros_imu.h.

Vector3 gazebo::GazeboRosIMU::rpyOffsets [private]

Definition at line 150 of file gazebo_ros_imu.h.

ParamT<Vector3>* gazebo::GazeboRosIMU::rpyOffsetsP [private]

Definition at line 149 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::serviceName [private]

Definition at line 187 of file gazebo_ros_imu.h.

ParamT<std::string>* gazebo::GazeboRosIMU::serviceNameP [private]

Definition at line 186 of file gazebo_ros_imu.h.

ros::ServiceServer gazebo::GazeboRosIMU::srv_ [private]

Definition at line 185 of file gazebo_ros_imu.h.

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

Definition at line 142 of file gazebo_ros_imu.h.

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

topic name

Definition at line 141 of file gazebo_ros_imu.h.

Vector3 gazebo::GazeboRosIMU::xyzOffsets [private]

Definition at line 148 of file gazebo_ros_imu.h.

ParamT<Vector3>* gazebo::GazeboRosIMU::xyzOffsetsP [private]

allow specifying constant xyz and rpy offsets

Definition at line 147 of file gazebo_ros_imu.h.

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

All Classes Namespaces Files Functions Variables Typedefs Enumerator Friends Defines

gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Fri Jan 11 10:09:35 2013