gazebo_ros_range.h
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34 
37 #ifndef GAZEBO_ROS_RANGE_H
38 #define GAZEBO_ROS_RANGE_H
39 
40 
41 #include <string>
42 
43 #include <boost/bind.hpp>
44 #include <boost/thread.hpp>
45 #include <boost/thread/mutex.hpp>
46 
47 #include <ros/ros.h>
48 #include <ros/callback_queue.h>
49 #include <ros/advertise_options.h>
50 #include <sensor_msgs/Range.h>
51 
52 #include <gazebo/physics/physics.hh>
53 #include <gazebo/transport/TransportTypes.hh>
54 #include <gazebo/msgs/MessageTypes.hh>
55 #include <gazebo/common/Time.hh>
56 #include <gazebo/common/Plugin.hh>
57 #include <gazebo/common/Events.hh>
58 #include <gazebo/sensors/SensorTypes.hh>
59 #include <gazebo/plugins/RayPlugin.hh>
60 
61 #include <sdf/Param.hh>
62 
63 namespace gazebo
64 {
65 
66 class GazeboRosRange : public RayPlugin
67 {
68 
70  public: GazeboRosRange();
71 
73  public: ~GazeboRosRange();
74 
77  public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
78 
80  protected: virtual void OnNewLaserScans();
81 
83  private: void PutRangeData(common::Time &_updateTime);
84 
86  private: int range_connect_count_;
87  private: void RangeConnect();
88  private: void RangeDisconnect();
89 
90  // Pointer to the model
91  private: physics::WorldPtr world_;
93  private: sensors::SensorPtr parent_sensor_;
94  private: sensors::RaySensorPtr parent_ray_sensor_;
95 
98  private: ros::Publisher pub_;
99 
101  private: sensor_msgs::Range range_msg_;
102 
104  private: std::string topic_name_;
105 
107  private: std::string frame_name_;
108 
110  private: std::string radiation_;
111 
113  private: double fov_;
115  private: double gaussian_noise_;
116 
118  private: double GaussianKernel(double mu, double sigma);
119 
121  private: boost::mutex lock_;
122 
124  private: double hokuyo_min_intensity_;
125 
127  private: double update_rate_;
128  private: double update_period_;
129  private: common::Time last_update_time_;
130 
132  private: std::string robot_namespace_;
133 
135  private: void RangeQueueThread();
136  private: boost::thread callback_queue_thread_;
137 
138  // deferred load in case ros is blocking
139  private: sdf::ElementPtr sdf;
140  private: void LoadThread();
141  private: boost::thread deferred_load_thread_;
142  private: unsigned int seed;
143 };
144 }
145 #endif // GAZEBO_ROS_RANGE_H
std::string robot_namespace_
for setting ROS name space
double GaussianKernel(double mu, double sigma)
Gaussian noise generator.
sensor_msgs::Range range_msg_
ros message
void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
Load the plugin.
ros::NodeHandle * rosnode_
pointer to ros node
double update_rate_
update rate of this sensor
GazeboRosRange()
Constructor.
sensors::RaySensorPtr parent_ray_sensor_
std::string radiation_
radiation type : ultrasound or infrared
double hokuyo_min_intensity_
hack to mimic hokuyo intensity cutoff of 100
std::string frame_name_
frame transform name, should match link name
int range_connect_count_
Keep track of number of connctions.
common::Time last_update_time_
boost::mutex lock_
mutex to lock access to fields that are used in message callbacks
double gaussian_noise_
Gaussian noise.
physics::WorldPtr world_
std::string topic_name_
topic name
ros::CallbackQueue range_queue_
sensors::SensorPtr parent_sensor_
The parent sensor.
boost::thread callback_queue_thread_
virtual void OnNewLaserScans()
Update the controller.
void PutRangeData(common::Time &_updateTime)
Put range data to the ROS topic.
double fov_
sensor field of view
boost::thread deferred_load_thread_


gazebo_plugins
Author(s): John Hsu
autogenerated on Tue Apr 6 2021 02:19:39