gazebo::DiffDrivePlugin6W Class Reference

#include <diffdrive_plugin_6w.h>

List of all members.

Public Member Functions
	DiffDrivePlugin6W ()
virtual	~DiffDrivePlugin6W ()
Protected Member Functions
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
virtual void	Reset ()
virtual void	Update ()
Private Member Functions
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
void	GetPositionCmd ()
void	publish_odometry ()
void	QueueThread ()
Private Attributes
bool	alive_
boost::thread	callback_queue_thread_
bool	enableMotors
physics::JointPtr	joints [6]
physics::LinkPtr	link
std::string	linkName
boost::mutex	lock
nav_msgs::Odometry	odom_
float	odomPose [3]
float	odomVel [3]
common::Time	prevUpdateTime
ros::Publisher	pub_
ros::CallbackQueue	queue_
std::string	robotNamespace
ros::NodeHandle *	rosnode_
float	rot_
ros::Subscriber	sub_
std::string	tf_prefix_
std::string	topicName
float	torque
tf::TransformBroadcaster *	transform_broadcaster_
event::ConnectionPtr	updateConnection
float	wheelDiam
float	wheelSep
float	wheelSpeed [2]
physics::WorldPtr	world
float	x_

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Detailed Description

Definition at line 50 of file diffdrive_plugin_6w.h.

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Constructor & Destructor Documentation

gazebo::DiffDrivePlugin6W::DiffDrivePlugin6W

(

)

Definition at line 61 of file diffdrive_plugin_6w.cpp.

gazebo::DiffDrivePlugin6W::~DiffDrivePlugin6W

(

)

[virtual]

Definition at line 66 of file diffdrive_plugin_6w.cpp.

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Member Function Documentation

void gazebo::DiffDrivePlugin6W::cmdVelCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_msg

)

[private]

Definition at line 271 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::GetPositionCmd

(

)

[private]

Definition at line 248 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)		[protected, virtual]

Definition at line 76 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::publish_odometry

(

)

[private]

Definition at line 298 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::QueueThread

(

)

[private]

Definition at line 286 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::Reset

(

)

[protected, virtual]

Definition at line 170 of file diffdrive_plugin_6w.cpp.

void gazebo::DiffDrivePlugin6W::Update

(

)

[protected, virtual]

Definition at line 195 of file diffdrive_plugin_6w.cpp.

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Member Data Documentation

bool gazebo::DiffDrivePlugin6W::alive_ [private]

Definition at line 106 of file diffdrive_plugin_6w.h.

boost::thread gazebo::DiffDrivePlugin6W::callback_queue_thread_ [private]

Definition at line 98 of file diffdrive_plugin_6w.h.

bool gazebo::DiffDrivePlugin6W::enableMotors [private]

Definition at line 78 of file diffdrive_plugin_6w.h.

physics::JointPtr gazebo::DiffDrivePlugin6W::joints[6] [private]

Definition at line 68 of file diffdrive_plugin_6w.h.

physics::LinkPtr gazebo::DiffDrivePlugin6W::link [private]

Definition at line 66 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::linkName [private]

Definition at line 94 of file diffdrive_plugin_6w.h.

boost::mutex gazebo::DiffDrivePlugin6W::lock [private]

Definition at line 90 of file diffdrive_plugin_6w.h.

nav_msgs::Odometry gazebo::DiffDrivePlugin6W::odom_ [private]

Definition at line 87 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::odomPose[3] [private]

Definition at line 79 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::odomVel[3] [private]

Definition at line 80 of file diffdrive_plugin_6w.h.

common::Time gazebo::DiffDrivePlugin6W::prevUpdateTime [private]

Definition at line 76 of file diffdrive_plugin_6w.h.

ros::Publisher gazebo::DiffDrivePlugin6W::pub_ [private]

Definition at line 84 of file diffdrive_plugin_6w.h.

ros::CallbackQueue gazebo::DiffDrivePlugin6W::queue_ [private]

Definition at line 97 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::robotNamespace [private]

Definition at line 92 of file diffdrive_plugin_6w.h.

ros::NodeHandle* gazebo::DiffDrivePlugin6W::rosnode_ [private]

Definition at line 83 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::rot_ [private]

Definition at line 105 of file diffdrive_plugin_6w.h.

ros::Subscriber gazebo::DiffDrivePlugin6W::sub_ [private]

Definition at line 85 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::tf_prefix_ [private]

Definition at line 88 of file diffdrive_plugin_6w.h.

std::string gazebo::DiffDrivePlugin6W::topicName [private]

Definition at line 93 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::torque [private]

Definition at line 72 of file diffdrive_plugin_6w.h.

tf::TransformBroadcaster* gazebo::DiffDrivePlugin6W::transform_broadcaster_ [private]

Definition at line 86 of file diffdrive_plugin_6w.h.

event::ConnectionPtr gazebo::DiffDrivePlugin6W::updateConnection [private]

Definition at line 109 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::wheelDiam [private]

Definition at line 71 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::wheelSep [private]

Definition at line 70 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::wheelSpeed[2] [private]

Definition at line 73 of file diffdrive_plugin_6w.h.

physics::WorldPtr gazebo::DiffDrivePlugin6W::world [private]

Definition at line 67 of file diffdrive_plugin_6w.h.

float gazebo::DiffDrivePlugin6W::x_ [private]

Definition at line 104 of file diffdrive_plugin_6w.h.

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

• diffdrive_plugin_6w.h
• diffdrive_plugin_6w.cpp