default_robot_hw_sim.cpp
/tmp/ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/
default__robot__hw__sim_8cpp
gazebo_ros_control/default_robot_hw_sim.h
gazebo_ros_control
default_robot_hw_sim.h
/tmp/ws/src/gazebo_ros_pkgs/gazebo_ros_control/include/gazebo_ros_control/
default__robot__hw__sim_8h
gazebo_ros_control/robot_hw_sim.h
gazebo_ros_control::DefaultRobotHWSim
gazebo_ros_control
boost::shared_ptr< DefaultRobotHWSim >
DefaultRobotHWSimPtr
namespacegazebo__ros__control.html
ae21d6944388a2534144d5635345e6ec9
gazebo_ros_control_plugin.cpp
/tmp/ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/
gazebo__ros__control__plugin_8cpp
gazebo_ros_control/gazebo_ros_control_plugin.h
gazebo_ros_control
GZ_REGISTER_MODEL_PLUGIN
namespacegazebo__ros__control.html
a9829eded0d44d1ef5349ec4b70ca0c62
(GazeboRosControlPlugin)
gazebo_ros_control_plugin.h
/tmp/ws/src/gazebo_ros_pkgs/gazebo_ros_control/include/gazebo_ros_control/
gazebo__ros__control__plugin_8h
gazebo_ros_control/robot_hw_sim.h
gazebo_ros_control::GazeboRosControlPlugin
gazebo_ros_control
robot_hw_sim.h
/tmp/ws/src/gazebo_ros_pkgs/gazebo_ros_control/include/gazebo_ros_control/
robot__hw__sim_8h
gazebo_ros_control::JointData
gazebo_ros_control::RobotHWSim
gazebo_ros_control
ResourceManager
classResourceManager.html
gazebo_ros_control
namespacegazebo__ros__control.html
gazebo_ros_control::DefaultRobotHWSim
gazebo_ros_control::GazeboRosControlPlugin
gazebo_ros_control::JointData
gazebo_ros_control::RobotHWSim
boost::shared_ptr< DefaultRobotHWSim >
DefaultRobotHWSimPtr
namespacegazebo__ros__control.html
ae21d6944388a2534144d5635345e6ec9
GZ_REGISTER_MODEL_PLUGIN
namespacegazebo__ros__control.html
a9829eded0d44d1ef5349ec4b70ca0c62
(GazeboRosControlPlugin)
gazebo_ros_control::DefaultRobotHWSim
classgazebo__ros__control_1_1DefaultRobotHWSim.html
gazebo_ros_control::RobotHWSim
virtual void
eStopActive
classgazebo__ros__control_1_1DefaultRobotHWSim.html
abda34e5b7880c5440c7028d33bc7245c
(const bool active)
virtual bool
initSim
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a238c259a6ed439a3b181311ebe868f9b
(const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)
virtual void
readSim
classgazebo__ros__control_1_1DefaultRobotHWSim.html
af1bb06ffaa392b0ba75d8f57f356d166
(ros::Time time, ros::Duration period)
virtual void
writeSim
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a236d69a382700835d9a1f84132fe9ca0
(ros::Time time, ros::Duration period)
ControlMethod
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a98d8e3ff7a5e00cdd95cd70dc12de0d6
EFFORT
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a98d8e3ff7a5e00cdd95cd70dc12de0d6ac6c26ac2c5929fb20ae24190591dfea2
POSITION
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a98d8e3ff7a5e00cdd95cd70dc12de0d6ae6830ba7e2651f32bc0665aba5a1a307
POSITION_PID
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a98d8e3ff7a5e00cdd95cd70dc12de0d6af5c858bbe174ed51a75b1c96ad358ca1
VELOCITY
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a98d8e3ff7a5e00cdd95cd70dc12de0d6a63014711b90d488df52f1ed53740ac73
VELOCITY_PID
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a98d8e3ff7a5e00cdd95cd70dc12de0d6afa443452f1219458b02c1462c0bed8ba
void
registerJointLimits
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a9924ea410f34adbb9cefc2f18f52c351
(const std::string &joint_name, const hardware_interface::JointHandle &joint_handle, const ControlMethod ctrl_method, const ros::NodeHandle &joint_limit_nh, const urdf::Model *const urdf_model, int *const joint_type, double *const lower_limit, double *const upper_limit, double *const effort_limit)
bool
e_stop_active_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a2a4285c6f02308430887cfd262216cfc
hardware_interface::EffortJointInterface
ej_interface_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
ad97682129200df6a4354abe70bdd0da3
joint_limits_interface::EffortJointSoftLimitsInterface
ej_limits_interface_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
acfe205cc22f15dc859d5efb5fac4f63e
joint_limits_interface::EffortJointSaturationInterface
ej_sat_interface_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a744a880a5f9ad345733b88123705fa2e
std::vector< ControlMethod >
joint_control_methods_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a32026fda466faad5a924caa025a9d0e0
std::vector< double >
joint_effort_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
ae4aa9fd6c4b10ff2d49a96d9bacabf61
std::vector< double >
joint_effort_command_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a614369016b62dfb9ce768502b3fabeb8
std::vector< double >
joint_effort_limits_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a435d960c830b9743c532cf0d6c85c321
std::vector< double >
joint_lower_limits_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a7f0957577fc3fdc51a7ffd0a30d4b10c
std::vector< std::string >
joint_names_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a4eb16c45e86d92091bd6177da19b36ab
std::vector< double >
joint_position_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
aa4e50364fac85a84597952eff22076f5
std::vector< double >
joint_position_command_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
ad6604d11cb540e245c5ac1470431789d
std::vector< int >
joint_types_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
ae8bf3f58539f1f82dce5de22a4cdff49
std::vector< double >
joint_upper_limits_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
af2948be483696b1ba7abd1463015582a
std::vector< double >
joint_velocity_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
ae681744281a071028cb254cffc2a7ce4
std::vector< double >
joint_velocity_command_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a20dfcb117a53be7d653f737aa8d2beec
hardware_interface::JointStateInterface
js_interface_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a4e043d1222ef772ed68dde9d49ae1852
bool
last_e_stop_active_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
aae3eaf770e7c4a81281ec86e1c32f248
std::vector< double >
last_joint_position_command_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a9872da8871f8186cb8ada07f32692bae
unsigned int
n_dof_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a8842d943e62ebd8def79f2cfbe43955b
std::vector< control_toolbox::Pid >
pid_controllers_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
ad88f9ea6d61c6cfa6183f8b0f1c49ff7
hardware_interface::PositionJointInterface
pj_interface_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a475da6800a153cb5850acf2c1851e7c6
joint_limits_interface::PositionJointSoftLimitsInterface
pj_limits_interface_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a76fff8f434df3c5a36a7f55597d8f062
joint_limits_interface::PositionJointSaturationInterface
pj_sat_interface_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a82f12a393e6be58b5736f236beaff3eb
std::vector< gazebo::physics::JointPtr >
sim_joints_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a7ec999640c51f70265bc19ad7673b67d
hardware_interface::VelocityJointInterface
vj_interface_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a323169d0dc63c0efb21487529d3e4b8b
joint_limits_interface::VelocityJointSoftLimitsInterface
vj_limits_interface_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
afcf86130707be2e7f6696ac7b51dcbe7
joint_limits_interface::VelocityJointSaturationInterface
vj_sat_interface_
classgazebo__ros__control_1_1DefaultRobotHWSim.html
a722b6cbea06f71f2aa38fdaa1e9aaa3c
gazebo_ros_control::GazeboRosControlPlugin
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
std::string
getURDF
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a416cab6ea076f00a3b5728e85570499a
(std::string param_name) const
virtual void
Load
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a2728f10f37259d1899fe825ac1ebeb7a
(gazebo::physics::ModelPtr parent, sdf::ElementPtr sdf)
bool
parseTransmissionsFromURDF
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
ad3193871b07fa02df491f5dcd2a44b24
(const std::string &urdf_string)
virtual void
Reset
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
aba21cf551088d6617fe3a56a6b396fb3
()
void
Update
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
aafdaccc34e989572c6d3618c7b06edd8
()
virtual
~GazeboRosControlPlugin
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a42727e58fc074cfea52b1135c45cce39
()
void
eStopCB
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
af0192dfa3c33d4d2b0865955d635cbcf
(const std_msgs::BoolConstPtr &e_stop_active)
void
load_robot_hw_sim_srv
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
ad38b1d4b02c58ab07f891304ad858f0f
()
ros::Duration
control_period_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
abc5a4fdf225e6aa74883957bdbcc3a7f
boost::shared_ptr< controller_manager::ControllerManager >
controller_manager_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a83ab3aa58470b4c64cc05b580c960756
boost::thread
deferred_load_thread_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
ad3595e9fe1f0745be5cb84c36994922d
bool
e_stop_active_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a1d31f8d204930890a5549ed895b8b2d7
ros::Subscriber
e_stop_sub_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a2a0868a4d36fe567b7e7216533d4a4eb
bool
last_e_stop_active_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
acbcc1ad6e468681be1d373056ac8319b
ros::Time
last_update_sim_time_ros_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a1a7271166bd4cdbb2943dccdc923d408
ros::Time
last_write_sim_time_ros_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
ad30c70ddf9b46a6ebd70278f50cc95f8
ros::NodeHandle
model_nh_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a039539d007d5b84fd0a3bb59f442d2e2
gazebo::physics::ModelPtr
parent_model_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
ae741fe737f03c65be4daabd5bcab760e
std::string
robot_description_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
ae8fc3c75471de414c56dc0b3246c9243
boost::shared_ptr< gazebo_ros_control::RobotHWSim >
robot_hw_sim_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a13c1d4d71b361ddb175aaa1621b7b0c9
boost::shared_ptr< pluginlib::ClassLoader< gazebo_ros_control::RobotHWSim > >
robot_hw_sim_loader_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a9375d5e7ebae6d1512089e1968319fce
std::string
robot_hw_sim_type_str_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a29973a6c2c7ac2159a200e78e2b04b6f
std::string
robot_namespace_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a9cea855fac93eda40f4ddd2640b5ba60
sdf::ElementPtr
sdf_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a0788a12537fc6196c6540ff58e0f0009
std::vector< transmission_interface::TransmissionInfo >
transmissions_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
a238027d074451ec526760fc29ad1b506
gazebo::event::ConnectionPtr
update_connection_
classgazebo__ros__control_1_1GazeboRosControlPlugin.html
af23718b35867d30d3a6e95174f102ad8
gazebo_ros_control::JointData
structgazebo__ros__control_1_1JointData.html
JointData
structgazebo__ros__control_1_1JointData.html
a5d7ed32ce86f147497e89a94c4856285
(const std::string &name, const std::string &hardware_interface)
std::string
hardware_interface_
structgazebo__ros__control_1_1JointData.html
afb3fb8324d2b9e8afcebd123df80e3b4
std::string
name_
structgazebo__ros__control_1_1JointData.html
a2214617be42bc2a7266cf96c8aff5d5e
gazebo_ros_control::RobotHWSim
classgazebo__ros__control_1_1RobotHWSim.html
hardware_interface::RobotHW
virtual void
eStopActive
classgazebo__ros__control_1_1RobotHWSim.html
a05a7b45f66938025d019067e37d30d85
(const bool active)
virtual bool
initSim
classgazebo__ros__control_1_1RobotHWSim.html
ac8f632edd376d4085964fa2b179a86c9
(const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)=0
virtual void
readSim
classgazebo__ros__control_1_1RobotHWSim.html
aaa34d92ed5d9c5d93f599f5a1db44657
(ros::Time time, ros::Duration period)=0
virtual void
writeSim
classgazebo__ros__control_1_1RobotHWSim.html
a3b7feb304550b9af1bdb946b29dbd5a8
(ros::Time time, ros::Duration period)=0
virtual
~RobotHWSim
classgazebo__ros__control_1_1RobotHWSim.html
ae797e51cc6d9723e41188d0ec476f3d1
()