Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
gazebo::GazeboRosCameraUtils Class Reference

#include <gazebo_ros_camera_utils.h>

Inheritance diagram for gazebo::GazeboRosCameraUtils:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 GazeboRosCameraUtils ()
 Constructor.
virtual void Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
 Load the plugin.
 ~GazeboRosCameraUtils ()
 Destructor.

Protected Member Functions

void CameraQueueThread ()
void ImageConnect ()
void ImageDisconnect ()
virtual void PublishCameraInfo (ros::Publisher &camera_info_publisher)
 Publish CameraInfo to the ROS topic.
virtual void PublishCameraInfo (common::Time &last_update_time)
virtual void PublishCameraInfo ()
void PutCameraData (const unsigned char *_src)
 Put camera data to the ROS topic.
void PutCameraData (const unsigned char *_src, common::Time &last_update_time)

Protected Attributes

boost::thread callback_queue_thread_
rendering::CameraPtr camera_
ros::Publisher camera_info_pub_
 camera info
std::string camera_info_topic_name_
ros::CallbackQueue camera_queue_
double cx_
double cx_prime_
double cy_
unsigned int depth_
double distortion_k1_
double distortion_k2_
double distortion_k3_
double distortion_t1_
double distortion_t2_
double focal_length_
std::string format_
std::string frame_name_
 ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached.
double hack_baseline_
unsigned int height_
int image_connect_count_
 Keep track of number of connctions.
sensor_msgs::Image image_msg_
 ROS image message.
image_transport::Publisher image_pub_
std::string image_topic_name_
 ROS image topic name.
int imageConnectCount
int info_connect_count_
 Keep track of number of connctions for CameraInfo.
int infoConnectCount
common::Time last_info_update_time_
common::Time last_update_time_
boost::mutex lock_
 A mutex to lock access to fields that are used in ROS message callbacks.
sensors::SensorPtr parentSensor_
ros::NodeHandlerosnode_
 A pointer to the ROS node. A node will be instantiated if it does not exist.
common::Time sensor_update_time_
int skip_
std::string type_
 size of image buffer
double update_period_
double update_rate_
 update rate of this sensor
unsigned int width_
physics::WorldPtr world
physics::WorldPtr world_

Private Member Functions

void configCallback (gazebo_plugins::GazeboRosCameraConfig &config, uint32_t level)
void InfoConnect ()
void InfoDisconnect ()
void Init ()
void SetHFOV (const std_msgs::Float64::ConstPtr &hfov)
 : Camera modification functions
void SetUpdateRate (const std_msgs::Float64::ConstPtr &update_rate)

Private Attributes

std::string camera_name_
 ROS camera name.
ros::Subscriber cameraHFOVSubscriber_
ros::Subscriber cameraUpdateRateSubscriber_
dynamic_reconfigure::Server
< gazebo_plugins::GazeboRosCameraConfig > * 
dyn_srv_
image_transport::ImageTransportitnode_
event::ConnectionPtr newFrameConnection_
std::string robot_namespace_
 for setting ROS name space

Detailed Description

Definition at line 64 of file gazebo_ros_camera_utils.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
parentThe parent entity, must be a Model or a Sensor

Definition at line 62 of file gazebo_ros_camera_utils.cpp.

Destructor.

Definition at line 83 of file gazebo_ros_camera_utils.cpp.


Member Function Documentation

publish CameraInfo

take care of callback queue

Definition at line 548 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::configCallback ( gazebo_plugins::GazeboRosCameraConfig &  config,
uint32_t  level 
) [private]

Definition at line 75 of file gazebo_ros_camera_utils.cpp.

Definition at line 318 of file gazebo_ros_camera_utils.cpp.

Definition at line 327 of file gazebo_ros_camera_utils.cpp.

Reimplemented in gazebo::GazeboRosDepthCamera.

Definition at line 287 of file gazebo_ros_camera_utils.cpp.

Reimplemented in gazebo::GazeboRosDepthCamera.

Definition at line 295 of file gazebo_ros_camera_utils.cpp.

Compute camera_ parameters if set to 0

Definition at line 338 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::Load ( sensors::SensorPtr  _parent,
sdf::ElementPtr  _sdf 
) [virtual]

Load the plugin.

Parameters:
takein SDF root element

Reimplemented in gazebo::GazeboRosDepthCamera, gazebo::GazeboRosOpenniKinect, and gazebo::GazeboRosCamera.

Definition at line 95 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::PublishCameraInfo ( ros::Publisher camera_info_publisher) [protected, virtual]

Publish CameraInfo to the ROS topic.

Definition at line 490 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::PublishCameraInfo ( common::Time &  last_update_time) [protected, virtual]

Definition at line 470 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::PublishCameraInfo ( ) [protected, virtual]
void gazebo::GazeboRosCameraUtils::PutCameraData ( const unsigned char *  _src) [protected]

Put camera data to the ROS topic.

don't bother if there are no subscribers

Definition at line 439 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::PutCameraData ( const unsigned char *  _src,
common::Time &  last_update_time 
) [protected]

Definition at line 433 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::SetHFOV ( const std_msgs::Float64::ConstPtr &  hfov) [private]

: Camera modification functions

Definition at line 304 of file gazebo_ros_camera_utils.cpp.

void gazebo::GazeboRosCameraUtils::SetUpdateRate ( const std_msgs::Float64::ConstPtr &  update_rate) [private]

Definition at line 311 of file gazebo_ros_camera_utils.cpp.


Member Data Documentation

Definition at line 159 of file gazebo_ros_camera_utils.h.

rendering::CameraPtr gazebo::GazeboRosCameraUtils::camera_ [protected]

Definition at line 167 of file gazebo_ros_camera_utils.h.

camera info

Definition at line 118 of file gazebo_ros_camera_utils.h.

Definition at line 119 of file gazebo_ros_camera_utils.h.

ROS camera name.

Definition at line 104 of file gazebo_ros_camera_utils.h.

Definition at line 157 of file gazebo_ros_camera_utils.h.

Definition at line 148 of file gazebo_ros_camera_utils.h.

Definition at line 149 of file gazebo_ros_camera_utils.h.

Definition at line 131 of file gazebo_ros_camera_utils.h.

Definition at line 130 of file gazebo_ros_camera_utils.h.

Definition at line 132 of file gazebo_ros_camera_utils.h.

unsigned int gazebo::GazeboRosCameraUtils::depth_ [protected]

Definition at line 163 of file gazebo_ros_camera_utils.h.

Definition at line 135 of file gazebo_ros_camera_utils.h.

Definition at line 136 of file gazebo_ros_camera_utils.h.

Definition at line 137 of file gazebo_ros_camera_utils.h.

Definition at line 138 of file gazebo_ros_camera_utils.h.

Definition at line 139 of file gazebo_ros_camera_utils.h.

dynamic_reconfigure::Server<gazebo_plugins::GazeboRosCameraConfig>* gazebo::GazeboRosCameraUtils::dyn_srv_ [private]

Definition at line 153 of file gazebo_ros_camera_utils.h.

Definition at line 133 of file gazebo_ros_camera_utils.h.

std::string gazebo::GazeboRosCameraUtils::format_ [protected]

Definition at line 164 of file gazebo_ros_camera_utils.h.

ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached.

Definition at line 124 of file gazebo_ros_camera_utils.h.

Definition at line 134 of file gazebo_ros_camera_utils.h.

unsigned int gazebo::GazeboRosCameraUtils::height_ [protected]

Definition at line 163 of file gazebo_ros_camera_utils.h.

Keep track of number of connctions.

Definition at line 84 of file gazebo_ros_camera_utils.h.

sensor_msgs::Image gazebo::GazeboRosCameraUtils::image_msg_ [protected]

ROS image message.

Definition at line 98 of file gazebo_ros_camera_utils.h.

Definition at line 94 of file gazebo_ros_camera_utils.h.

ROS image topic name.

Definition at line 107 of file gazebo_ros_camera_utils.h.

Definition at line 177 of file gazebo_ros_camera_utils.h.

Keep track of number of connctions for CameraInfo.

Definition at line 114 of file gazebo_ros_camera_utils.h.

Definition at line 178 of file gazebo_ros_camera_utils.h.

Definition at line 95 of file gazebo_ros_camera_utils.h.

Definition at line 120 of file gazebo_ros_camera_utils.h.

Definition at line 128 of file gazebo_ros_camera_utils.h.

boost::mutex gazebo::GazeboRosCameraUtils::lock_ [protected]

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

Definition at line 142 of file gazebo_ros_camera_utils.h.

Definition at line 172 of file gazebo_ros_camera_utils.h.

sensors::SensorPtr gazebo::GazeboRosCameraUtils::parentSensor_ [protected]

Definition at line 166 of file gazebo_ros_camera_utils.h.

for setting ROS name space

Definition at line 101 of file gazebo_ros_camera_utils.h.

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 93 of file gazebo_ros_camera_utils.h.

Definition at line 174 of file gazebo_ros_camera_utils.h.

Definition at line 146 of file gazebo_ros_camera_utils.h.

std::string gazebo::GazeboRosCameraUtils::type_ [protected]

size of image buffer

Definition at line 145 of file gazebo_ros_camera_utils.h.

Definition at line 127 of file gazebo_ros_camera_utils.h.

update rate of this sensor

Definition at line 126 of file gazebo_ros_camera_utils.h.

unsigned int gazebo::GazeboRosCameraUtils::width_ [protected]

Definition at line 163 of file gazebo_ros_camera_utils.h.

physics::WorldPtr gazebo::GazeboRosCameraUtils::world [protected]

Definition at line 179 of file gazebo_ros_camera_utils.h.

physics::WorldPtr gazebo::GazeboRosCameraUtils::world_ [protected]

Definition at line 170 of file gazebo_ros_camera_utils.h.


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


gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Mon Oct 6 2014 12:15:44