gazebo::GazeboRosSimIface Class Reference
[Plugin XML Reference and Example]

#include <gazebo_ros_sim_iface.h>

Public Member Functions
	GazeboRosSimIface (Entity *parent)
	Constructor.
virtual	~GazeboRosSimIface ()
	Destructor.
Protected Member Functions
virtual void	FiniChild ()
	Finalize the controller, unadvertise topics.
virtual void	InitChild ()
	Init the controller.
virtual void	LoadChild (XMLConfigNode *node)
	Load the controller.
virtual void	UpdateChild ()
	Update the controller.
Private Member Functions
void	QueueThread ()
bool	ServiceCallback (gazebo_plugins::SetPose::Request &req, gazebo_plugins::SetPose::Response &res)
	call back when using service
void	UpdateObjectPose (const nav_msgs::Odometry::ConstPtr &poseMsg)
	call back when a Odometry message is published
Private Attributes
Vector3	angVel
ParamT< Vector3 > *	angVelP
boost::thread	callback_queue_thread_
std::string	frameName
boost::mutex	lock
	A mutex to lock access to fields that are used in ROS message callbacks.
std::string	modelName
ParamT< std::string > *	modelNameP
Body *	myFrame
Entity *	myParent
	A pointer to the parent entity.
ros::CallbackQueue	queue_
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
	for setting ROS name space
ros::NodeHandle *	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist.
Vector3	rpy
ParamT< Vector3 > *	rpyP
std::string	serviceName
ParamT< std::string > *	serviceNameP
ros::ServiceServer	srv_
ros::Subscriber	sub_
std::string	topicName
ParamT< std::string > *	topicNameP
	ROS Pose topic name.
Vector3	vel
ParamT< Vector3 > *	velP
Vector3	xyz
ParamT< Vector3 > *	xyzP

Detailed Description

Definition at line 79 of file gazebo_ros_sim_iface.h.

Constructor & Destructor Documentation

GazeboRosSimIface::GazeboRosSimIface ( Entity * parent )

Constructor.

Parameters:

parent

The parent entity, must be a Model or a Sensor

Definition at line 52 of file gazebo_ros_sim_iface.cpp.

GazeboRosSimIface::~GazeboRosSimIface ( ) [virtual]

Destructor.

Definition at line 75 of file gazebo_ros_sim_iface.cpp.

Member Function Documentation

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

Finalize the controller, unadvertise topics.

Definition at line 308 of file gazebo_ros_sim_iface.cpp.

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

Init the controller.

Definition at line 217 of file gazebo_ros_sim_iface.cpp.

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

Load the controller.

Parameters:

node

XML config node

Definition at line 92 of file gazebo_ros_sim_iface.cpp.

void GazeboRosSimIface::QueueThread ( ) [private]

Definition at line 320 of file gazebo_ros_sim_iface.cpp.

bool GazeboRosSimIface::ServiceCallback	(	gazebo_plugins::SetPose::Request &	req,
		gazebo_plugins::SetPose::Response &	res
	)			`[private]`

call back when using service

if a relative Body frame is specified, set pose relative to this Body frame if frameName specified is "world", "/map" or "map", set relative to the gazebo inertial world

Definition at line 140 of file gazebo_ros_sim_iface.cpp.

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

Update the controller.

Definition at line 299 of file gazebo_ros_sim_iface.cpp.

void GazeboRosSimIface::UpdateObjectPose ( const nav_msgs::Odometry::ConstPtr & poseMsg ) [private]

call back when a Odometry message is published

Definition at line 225 of file gazebo_ros_sim_iface.cpp.