#include <model_server.h>
Public Member Functions | |
ModelServer () | |
void | spin () |
~ModelServer () | |
Private Member Functions | |
bool | gazeboDeleteModel (std::string const &name) |
bool | gazeboSpawnModel (std::string const &serialized_model, geometry_msgs::Pose const &initial_pose) |
bool | loadObject (icr_msgs::LoadObject::Request &req, icr_msgs::LoadObject::Response &res) |
Spawns the given urdf model as "icr_object" in gazebo, if such an object already exists it is deleted. Also, the urdf file is pushed onto the parameter server. | |
bool | loadURDF (std::string const &path, std::string &serialized_model) |
bool | loadWavefrontObj (std::string const &path, pcl::PointCloud< pcl::PointNormal > &cloud, std::vector< std::vector< unsigned int > > &neighbors) |
Private Attributes | |
ros::ServiceClient | gazebo_delete_clt_ |
ros::ServiceClient | gazebo_get_wp_clt_ |
ros::ServiceClient | gazebo_pause_clt_ |
ros::ServiceClient | gazebo_spawn_clt_ |
ros::ServiceClient | gazebo_unpause_clt_ |
ros::ServiceServer | load_obj_srv_ |
boost::mutex | lock_ |
std::string | model_dir_ |
ros::NodeHandle | nh_ |
ros::NodeHandle | nh_private_ |
icr_msgs::Object::Ptr | obj_ |
std::string | obj_frame_id_ |
bool | obj_loaded_ |
std::string | obj_name_ |
boost::shared_ptr < PoseBroadcaster > | pose_brc_ |
std::string | pose_source_ |
double | scale_ |
std::vector< boost::shared_ptr < ros::ServiceClient > > | set_obj_clts_ |
Definition at line 35 of file model_server.h.
Definition at line 17 of file model_server.cpp.
ICR::ModelServer::~ModelServer | ( | ) | [inline] |
Definition at line 40 of file model_server.h.
bool ICR::ModelServer::gazeboDeleteModel | ( | std::string const & | name | ) | [private] |
Definition at line 237 of file model_server.cpp.
bool ICR::ModelServer::gazeboSpawnModel | ( | std::string const & | serialized_model, |
geometry_msgs::Pose const & | initial_pose | ||
) | [private] |
Definition at line 212 of file model_server.cpp.
bool ICR::ModelServer::loadObject | ( | icr_msgs::LoadObject::Request & | req, |
icr_msgs::LoadObject::Response & | res | ||
) | [private] |
Spawns the given urdf model as "icr_object" in gazebo, if such an object already exists it is deleted. Also, the urdf file is pushed onto the parameter server.
Definition at line 73 of file model_server.cpp.
bool ICR::ModelServer::loadURDF | ( | std::string const & | path, |
std::string & | serialized_model | ||
) | [private] |
Definition at line 175 of file model_server.cpp.
bool ICR::ModelServer::loadWavefrontObj | ( | std::string const & | path, |
pcl::PointCloud< pcl::PointNormal > & | cloud, | ||
std::vector< std::vector< unsigned int > > & | neighbors | ||
) | [private] |
Definition at line 271 of file model_server.cpp.
void ICR::ModelServer::spin | ( | ) |
Definition at line 166 of file model_server.cpp.
ros::ServiceClient ICR::ModelServer::gazebo_delete_clt_ [private] |
Definition at line 61 of file model_server.h.
ros::ServiceClient ICR::ModelServer::gazebo_get_wp_clt_ [private] |
Definition at line 64 of file model_server.h.
ros::ServiceClient ICR::ModelServer::gazebo_pause_clt_ [private] |
Definition at line 62 of file model_server.h.
ros::ServiceClient ICR::ModelServer::gazebo_spawn_clt_ [private] |
Definition at line 60 of file model_server.h.
ros::ServiceClient ICR::ModelServer::gazebo_unpause_clt_ [private] |
Definition at line 63 of file model_server.h.
ros::ServiceServer ICR::ModelServer::load_obj_srv_ [private] |
Definition at line 59 of file model_server.h.
boost::mutex ICR::ModelServer::lock_ [private] |
Definition at line 47 of file model_server.h.
std::string ICR::ModelServer::model_dir_ [private] |
Definition at line 50 of file model_server.h.
ros::NodeHandle ICR::ModelServer::nh_ [private] |
Definition at line 46 of file model_server.h.
ros::NodeHandle ICR::ModelServer::nh_private_ [private] |
Definition at line 46 of file model_server.h.
icr_msgs::Object::Ptr ICR::ModelServer::obj_ [private] |
Definition at line 55 of file model_server.h.
std::string ICR::ModelServer::obj_frame_id_ [private] |
Definition at line 52 of file model_server.h.
bool ICR::ModelServer::obj_loaded_ [private] |
Definition at line 57 of file model_server.h.
std::string ICR::ModelServer::obj_name_ [private] |
Definition at line 51 of file model_server.h.
boost::shared_ptr<PoseBroadcaster> ICR::ModelServer::pose_brc_ [private] |
Definition at line 54 of file model_server.h.
std::string ICR::ModelServer::pose_source_ [private] |
Definition at line 53 of file model_server.h.
double ICR::ModelServer::scale_ [private] |
Definition at line 56 of file model_server.h.
std::vector<boost::shared_ptr<ros::ServiceClient> > ICR::ModelServer::set_obj_clts_ [private] |
Definition at line 65 of file model_server.h.