gazebo_ros_planar_move.h
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00001 /*
00002  * Copyright 2013 Open Source Robotics Foundation
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 
00018 /*
00019  * Desc: Simple model controller that uses a twist message to move a robot on
00020  *       the xy plane.
00021  * Author: Piyush Khandelwal
00022  * Date: 29 July 2013
00023  */
00024 
00025 #ifndef GAZEBO_ROS_PLANAR_MOVE_HH
00026 #define GAZEBO_ROS_PLANAR_MOVE_HH
00027 
00028 #include <boost/bind.hpp>
00029 #include <boost/thread.hpp>
00030 #include <map>
00031 
00032 #include <gazebo/common/common.hh>
00033 #include <gazebo/physics/physics.hh>
00034 #include <sdf/sdf.hh>
00035 
00036 #include <geometry_msgs/Twist.h>
00037 #include <nav_msgs/OccupancyGrid.h>
00038 #include <nav_msgs/Odometry.h>
00039 #include <ros/advertise_options.h>
00040 #include <ros/callback_queue.h>
00041 #include <ros/ros.h>
00042 #include <tf/transform_broadcaster.h>
00043 #include <tf/transform_listener.h>
00044 
00045 namespace gazebo {
00046 
00047   class GazeboRosPlanarMove : public ModelPlugin {
00048 
00049     public: 
00050       GazeboRosPlanarMove();
00051       ~GazeboRosPlanarMove();
00052       void Load(physics::ModelPtr parent, sdf::ElementPtr sdf);
00053 
00054     protected: 
00055       virtual void UpdateChild();
00056       virtual void FiniChild();
00057 
00058     private:
00059       void publishOdometry(double step_time);
00060 
00061       physics::ModelPtr parent_;
00062       event::ConnectionPtr update_connection_;
00063 
00064       boost::shared_ptr<ros::NodeHandle> rosnode_;
00065       ros::Publisher odometry_pub_;
00066       ros::Subscriber vel_sub_;
00067       boost::shared_ptr<tf::TransformBroadcaster> transform_broadcaster_;
00068       nav_msgs::Odometry odom_;
00069       std::string tf_prefix_;
00070 
00071       boost::mutex lock;
00072 
00073       std::string robot_namespace_;
00074       std::string command_topic_;
00075       std::string odometry_topic_;
00076       std::string odometry_frame_;
00077       std::string robot_base_frame_;
00078       double odometry_rate_;
00079 
00080       // Custom Callback Queue
00081       ros::CallbackQueue queue_;
00082       boost::thread callback_queue_thread_;
00083       void QueueThread();
00084 
00085       // command velocity callback
00086       void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg);
00087 
00088       double x_;
00089       double y_;
00090       double rot_;
00091       bool alive_;
00092       common::Time last_odom_publish_time_;
00093       math::Pose last_odom_pose_;
00094 
00095   };
00096 
00097 }
00098 
00099 #endif /* end of include guard: GAZEBO_ROS_PLANAR_MOVE_HH */


gazebo_plugins
Author(s): John Hsu
autogenerated on Fri Aug 28 2015 10:47:25