gazebo::GazeboRosP3D Class Reference
[Groud Truth Position Pose and Rates Interface]

GazeboRosP3D controller. More...

#include <gazebo_ros_p3d.h>

List of all members.

Public Member Functions
	GazeboRosP3D (Entity *parent)
	Constructor.
virtual	~GazeboRosP3D ()
	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	P3DConnect ()
void	P3DDisconnect ()
Private Attributes
Vector3	aeul
Vector3	apos
std::string	bodyName
ParamT< std::string > *	bodyNameP
	store bodyname
Vector3	frame_aeul
Vector3	frame_apos
std::string	frameName
ParamT< std::string > *	frameNameP
	frame transform name, should match link name FIXME: extract link name directly?
double	gaussianNoise
ParamT< double > *	gaussianNoiseP
	Gaussian noise.
Pose3d	initial_frame_pose
Vector3	last_frame_veul
Vector3	last_frame_vpos
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.
Body *	myFrame
	The body of the frame to display pose, twist.
Model *	myParent
	The parent Model.
int	p3dConnectCount
	Keep track of number of connctions.
nav_msgs::Odometry	poseMsg
	ros message
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	topicName
ParamT< std::string > *	topicNameP
	topic name
Vector3	xyzOffsets
ParamT< Vector3 > *	xyzOffsetsP
	allow specifying constant xyz and rpy offsets

---

Detailed Description

GazeboRosP3D controller.

• Starts a ROS node if none exists.
• This controller simulates a 6 dof position and rate sensor, publishes nav_msgs::Odometry.msg ROS topic.
• Example Usage:

       <model:physical name="some_fancy_model">
         <controller:gazebo_ros_p3d name="p3d_controller" plugin="libgazebo_ros_p3d.so">
           <alwaysOn>true</alwaysOn>
           <updateRate>1000.0</updateRate>
           <bodyName>body_name</bodyName>
           <topicName>body_pose_ground_truth</topicName>
           <frameName>map</frameName>
           <xyzOffsets>25.65 25.65 0</xyzOffsets> <!-- option to initialize odometry for fake localization-->
           <rpyOffsets>0 0 0</rpyOffsets>
           <interface:position name="p3d_position_iface"/>
         </controller:gazebo_ros_p3d>
       </model:phyiscal>
     

Definition at line 97 of file gazebo_ros_p3d.h.

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Constructor & Destructor Documentation

GazeboRosP3D::GazeboRosP3D

(

Entity *

parent

)

Constructor.

Definition at line 47 of file gazebo_ros_p3d.cpp.

GazeboRosP3D::~GazeboRosP3D

(

)

[virtual]

Destructor.

Definition at line 70 of file gazebo_ros_p3d.cpp.

---

Member Function Documentation

void GazeboRosP3D::FiniChild

(

)

[protected, virtual]

Finalize the controller.

Definition at line 337 of file gazebo_ros_p3d.cpp.

double GazeboRosP3D::GaussianKernel	(	double	mu,
		double	sigma
	)			[private]

Gaussian noise generator.

Definition at line 351 of file gazebo_ros_p3d.cpp.

void GazeboRosP3D::InitChild

(

)

[protected, virtual]

Init the controller.

Definition at line 152 of file gazebo_ros_p3d.cpp.

void GazeboRosP3D::LoadChild

(

XMLConfigNode *

node

)

[protected, virtual]

Load the controller.

Parameters:

node

XML config node

Definition at line 84 of file gazebo_ros_p3d.cpp.

void GazeboRosP3D::P3DConnect

(

)

[private]

Definition at line 139 of file gazebo_ros_p3d.cpp.

void GazeboRosP3D::P3DDisconnect

(

)

[private]

Definition at line 145 of file gazebo_ros_p3d.cpp.

void GazeboRosP3D::UpdateChild

(

)

[protected, virtual]

Update the controller.

if frameName specified is "world", "/map" or "map" report back inertial values in the gazebo world

Todo:

: let user set separate linear and angular covariance values.

Definition at line 177 of file gazebo_ros_p3d.cpp.

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Member Data Documentation

Vector3 gazebo::GazeboRosP3D::aeul [private]

Definition at line 162 of file gazebo_ros_p3d.h.

Vector3 gazebo::GazeboRosP3D::apos [private]

Definition at line 161 of file gazebo_ros_p3d.h.

std::string gazebo::GazeboRosP3D::bodyName [private]

Definition at line 137 of file gazebo_ros_p3d.h.

ParamT<std::string>* gazebo::GazeboRosP3D::bodyNameP [private]

store bodyname

Definition at line 136 of file gazebo_ros_p3d.h.

Vector3 gazebo::GazeboRosP3D::frame_aeul [private]

Definition at line 166 of file gazebo_ros_p3d.h.

Vector3 gazebo::GazeboRosP3D::frame_apos [private]

Definition at line 165 of file gazebo_ros_p3d.h.

std::string gazebo::GazeboRosP3D::frameName [private]

Definition at line 146 of file gazebo_ros_p3d.h.

ParamT<std::string>* gazebo::GazeboRosP3D::frameNameP [private]

frame transform name, should match link name FIXME: extract link name directly?

Definition at line 145 of file gazebo_ros_p3d.h.

double gazebo::GazeboRosP3D::gaussianNoise [private]

Definition at line 171 of file gazebo_ros_p3d.h.

ParamT<double>* gazebo::GazeboRosP3D::gaussianNoiseP [private]

Gaussian noise.

Definition at line 170 of file gazebo_ros_p3d.h.

Pose3d gazebo::GazeboRosP3D::initial_frame_pose [private]

Definition at line 167 of file gazebo_ros_p3d.h.

Vector3 gazebo::GazeboRosP3D::last_frame_veul [private]

Definition at line 164 of file gazebo_ros_p3d.h.

Vector3 gazebo::GazeboRosP3D::last_frame_vpos [private]

Definition at line 163 of file gazebo_ros_p3d.h.

Time gazebo::GazeboRosP3D::last_time [private]

save last_time

Definition at line 158 of file gazebo_ros_p3d.h.

Vector3 gazebo::GazeboRosP3D::last_veul [private]

Definition at line 160 of file gazebo_ros_p3d.h.

Vector3 gazebo::GazeboRosP3D::last_vpos [private]

Definition at line 159 of file gazebo_ros_p3d.h.

boost::mutex gazebo::GazeboRosP3D::lock [private]

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

Definition at line 155 of file gazebo_ros_p3d.h.

Body* gazebo::GazeboRosP3D::myBody [private]

The parent Model.

Definition at line 122 of file gazebo_ros_p3d.h.

Body* gazebo::GazeboRosP3D::myFrame [private]

The body of the frame to display pose, twist.

Definition at line 125 of file gazebo_ros_p3d.h.

Model* gazebo::GazeboRosP3D::myParent [private]

The parent Model.

Definition at line 119 of file gazebo_ros_p3d.h.

int gazebo::GazeboRosP3D::p3dConnectCount [private]

Keep track of number of connctions.

Definition at line 181 of file gazebo_ros_p3d.h.

nav_msgs::Odometry gazebo::GazeboRosP3D::poseMsg [private]

ros message

Definition at line 133 of file gazebo_ros_p3d.h.

ros::Publisher gazebo::GazeboRosP3D::pub_ [private]

Definition at line 130 of file gazebo_ros_p3d.h.

std::string gazebo::GazeboRosP3D::robotNamespace [private]

Definition at line 178 of file gazebo_ros_p3d.h.

ParamT<std::string>* gazebo::GazeboRosP3D::robotNamespaceP [private]

for setting ROS name space

Definition at line 177 of file gazebo_ros_p3d.h.

ros::NodeHandle* gazebo::GazeboRosP3D::rosnode_ [private]

pointer to ros node

Definition at line 129 of file gazebo_ros_p3d.h.

Vector3 gazebo::GazeboRosP3D::rpyOffsets [private]

Definition at line 152 of file gazebo_ros_p3d.h.

ParamT<Vector3>* gazebo::GazeboRosP3D::rpyOffsetsP [private]

Definition at line 151 of file gazebo_ros_p3d.h.

std::string gazebo::GazeboRosP3D::topicName [private]

Definition at line 141 of file gazebo_ros_p3d.h.

ParamT<std::string>* gazebo::GazeboRosP3D::topicNameP [private]

topic name

Definition at line 140 of file gazebo_ros_p3d.h.

Vector3 gazebo::GazeboRosP3D::xyzOffsets [private]

Definition at line 150 of file gazebo_ros_p3d.h.

ParamT<Vector3>* gazebo::GazeboRosP3D::xyzOffsetsP [private]

allow specifying constant xyz and rpy offsets

Definition at line 149 of file gazebo_ros_p3d.h.

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

• gazebo_ros_p3d.h
• gazebo_ros_p3d.cpp