gazebo::GazeboRosGraspHack Class Reference

GazeboRosGraspHack controller. More...

#include <gazebo_ros_grasp_hack.h>

List of all members.

Public Member Functions
	GazeboRosGraspHack (Entity *parent)
	Constructor.
virtual	~GazeboRosGraspHack ()
	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	GraspHackConnect ()
void	GraspHackDisconnect ()
void	GraspHackQueueThread ()
Private Attributes
boost::thread	callback_queue_thread_
ros::CallbackQueue	grasp_hack_queue_
int	graspHackConnectCount
	Keep track of number of connctions.
bool	l_grasp
Pose3d	l_grasp_relative_pose
Joint *	l_gripper_l_finger_joint
double	l_gripper_l_finger_joint_position
Body *	l_gripper_l_finger_tip_body
Joint *	l_gripper_l_finger_tip_joint
double	l_gripper_l_finger_tip_joint_position
Body *	l_gripper_palm_body
	The gripper links.
Joint *	l_gripper_r_finger_joint
double	l_gripper_r_finger_joint_position
Body *	l_gripper_r_finger_tip_body
Joint *	l_gripper_r_finger_tip_joint
double	l_gripper_r_finger_tip_joint_position
Time	last_time
	save last_time
boost::mutex	lock
	A mutex to lock access to fields that are used in message callbacks.
Body *	myParentBody
	The parent Body.
Model *	myParentModel
	The parent Model.
ros::Publisher	pub_
bool	r_grasp
Pose3d	r_grasp_relative_pose
Joint *	r_gripper_l_finger_joint
double	r_gripper_l_finger_joint_position
Body *	r_gripper_l_finger_tip_body
Joint *	r_gripper_l_finger_tip_joint
double	r_gripper_l_finger_tip_joint_position
Body *	r_gripper_palm_body
Joint *	r_gripper_r_finger_joint
double	r_gripper_r_finger_joint_position
Body *	r_gripper_r_finger_tip_body
Joint *	r_gripper_r_finger_tip_joint
double	r_gripper_r_finger_tip_joint_position
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

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Detailed Description

GazeboRosGraspHack 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_grasp_hack name="grasp_hack_controller" plugin="libgazebo_ros_grasp_hack.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="grasp_hack_position_iface"/>
         </controller:gazebo_ros_grasp_hack>
       </model:phyiscal>
     

Definition at line 98 of file gazebo_ros_grasp_hack.h.

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Constructor & Destructor Documentation

GazeboRosGraspHack::GazeboRosGraspHack

(

Entity *

parent

)

Constructor.

Definition at line 46 of file gazebo_ros_grasp_hack.cpp.

GazeboRosGraspHack::~GazeboRosGraspHack

(

)

[virtual]

Destructor.

Definition at line 74 of file gazebo_ros_grasp_hack.cpp.

---

Member Function Documentation

void GazeboRosGraspHack::FiniChild

(

)

[protected, virtual]

Finalize the controller.

Definition at line 281 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::GraspHackConnect

(

)

[private]

Definition at line 113 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::GraspHackDisconnect

(

)

[private]

Definition at line 119 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::GraspHackQueueThread

(

)

[private]

Definition at line 291 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::InitChild

(

)

[protected, virtual]

Init the controller.

Definition at line 126 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::LoadChild

(

XMLConfigNode *

node

)

[protected, virtual]

Load the controller.

Parameters:

node	XML config node

Definition at line 83 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::UpdateChild

(

)

[protected, virtual]

Update the controller.

Definition at line 162 of file gazebo_ros_grasp_hack.cpp.

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Member Data Documentation

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

Definition at line 189 of file gazebo_ros_grasp_hack.h.

ros::CallbackQueue gazebo::GazeboRosGraspHack::grasp_hack_queue_ [private]

Definition at line 187 of file gazebo_ros_grasp_hack.h.

int gazebo::GazeboRosGraspHack::graspHackConnectCount [private]

Keep track of number of connctions.

Definition at line 183 of file gazebo_ros_grasp_hack.h.

bool gazebo::GazeboRosGraspHack::l_grasp [private]

Definition at line 143 of file gazebo_ros_grasp_hack.h.

Pose3d gazebo::GazeboRosGraspHack::l_grasp_relative_pose [private]

Definition at line 146 of file gazebo_ros_grasp_hack.h.

Joint* gazebo::GazeboRosGraspHack::l_gripper_l_finger_joint [private]

Definition at line 133 of file gazebo_ros_grasp_hack.h.

double gazebo::GazeboRosGraspHack::l_gripper_l_finger_joint_position [private]

Definition at line 148 of file gazebo_ros_grasp_hack.h.

Body* gazebo::GazeboRosGraspHack::l_gripper_l_finger_tip_body [private]

Definition at line 128 of file gazebo_ros_grasp_hack.h.

Joint* gazebo::GazeboRosGraspHack::l_gripper_l_finger_tip_joint [private]

Definition at line 135 of file gazebo_ros_grasp_hack.h.

double gazebo::GazeboRosGraspHack::l_gripper_l_finger_tip_joint_position [private]

Definition at line 150 of file gazebo_ros_grasp_hack.h.

Body* gazebo::GazeboRosGraspHack::l_gripper_palm_body [private]

The gripper links.

Definition at line 126 of file gazebo_ros_grasp_hack.h.

Joint* gazebo::GazeboRosGraspHack::l_gripper_r_finger_joint [private]

Definition at line 134 of file gazebo_ros_grasp_hack.h.

double gazebo::GazeboRosGraspHack::l_gripper_r_finger_joint_position [private]

Definition at line 147 of file gazebo_ros_grasp_hack.h.

Body* gazebo::GazeboRosGraspHack::l_gripper_r_finger_tip_body [private]

Definition at line 129 of file gazebo_ros_grasp_hack.h.

Joint* gazebo::GazeboRosGraspHack::l_gripper_r_finger_tip_joint [private]

Definition at line 136 of file gazebo_ros_grasp_hack.h.

double gazebo::GazeboRosGraspHack::l_gripper_r_finger_tip_joint_position [private]

Definition at line 149 of file gazebo_ros_grasp_hack.h.

Time gazebo::GazeboRosGraspHack::last_time [private]

save last_time

Definition at line 176 of file gazebo_ros_grasp_hack.h.

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

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

Definition at line 173 of file gazebo_ros_grasp_hack.h.

Body* gazebo::GazeboRosGraspHack::myParentBody [private]

The parent Body.

Definition at line 120 of file gazebo_ros_grasp_hack.h.

Model* gazebo::GazeboRosGraspHack::myParentModel [private]

The parent Model.

Definition at line 123 of file gazebo_ros_grasp_hack.h.

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

Definition at line 160 of file gazebo_ros_grasp_hack.h.

bool gazebo::GazeboRosGraspHack::r_grasp [private]

Definition at line 144 of file gazebo_ros_grasp_hack.h.

Pose3d gazebo::GazeboRosGraspHack::r_grasp_relative_pose [private]

Definition at line 152 of file gazebo_ros_grasp_hack.h.

Joint* gazebo::GazeboRosGraspHack::r_gripper_l_finger_joint [private]

Definition at line 138 of file gazebo_ros_grasp_hack.h.

double gazebo::GazeboRosGraspHack::r_gripper_l_finger_joint_position [private]

Definition at line 154 of file gazebo_ros_grasp_hack.h.

Body* gazebo::GazeboRosGraspHack::r_gripper_l_finger_tip_body [private]

Definition at line 130 of file gazebo_ros_grasp_hack.h.

Joint* gazebo::GazeboRosGraspHack::r_gripper_l_finger_tip_joint [private]

Definition at line 140 of file gazebo_ros_grasp_hack.h.

double gazebo::GazeboRosGraspHack::r_gripper_l_finger_tip_joint_position [private]

Definition at line 156 of file gazebo_ros_grasp_hack.h.

Body* gazebo::GazeboRosGraspHack::r_gripper_palm_body [private]

Definition at line 127 of file gazebo_ros_grasp_hack.h.

Joint* gazebo::GazeboRosGraspHack::r_gripper_r_finger_joint [private]

Definition at line 139 of file gazebo_ros_grasp_hack.h.

double gazebo::GazeboRosGraspHack::r_gripper_r_finger_joint_position [private]

Definition at line 153 of file gazebo_ros_grasp_hack.h.

Body* gazebo::GazeboRosGraspHack::r_gripper_r_finger_tip_body [private]

Definition at line 131 of file gazebo_ros_grasp_hack.h.

Joint* gazebo::GazeboRosGraspHack::r_gripper_r_finger_tip_joint [private]

Definition at line 141 of file gazebo_ros_grasp_hack.h.

double gazebo::GazeboRosGraspHack::r_gripper_r_finger_tip_joint_position [private]

Definition at line 155 of file gazebo_ros_grasp_hack.h.

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

Definition at line 180 of file gazebo_ros_grasp_hack.h.

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

for setting ROS name space

Definition at line 179 of file gazebo_ros_grasp_hack.h.

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

pointer to ros node

Definition at line 159 of file gazebo_ros_grasp_hack.h.

Vector3 gazebo::GazeboRosGraspHack::rpyOffsets [private]

Definition at line 170 of file gazebo_ros_grasp_hack.h.

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

Definition at line 169 of file gazebo_ros_grasp_hack.h.

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

Definition at line 164 of file gazebo_ros_grasp_hack.h.

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

topic name

Definition at line 163 of file gazebo_ros_grasp_hack.h.

Vector3 gazebo::GazeboRosGraspHack::xyzOffsets [private]

Definition at line 168 of file gazebo_ros_grasp_hack.h.

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

allow specifying constant xyz and rpy offsets

Definition at line 167 of file gazebo_ros_grasp_hack.h.

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

• gazebo_ros_grasp_hack.h
• gazebo_ros_grasp_hack.cpp