Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
gazebo::GazeboRosDiffDriveMultiWheel Class Reference

#include <diffdrive_plugin_multi_wheel.h>

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

Public Member Functions

 GazeboRosDiffDriveMultiWheel ()
 
void Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
 
 ~GazeboRosDiffDriveMultiWheel ()
 

Protected Member Functions

virtual void FiniChild ()
 
virtual void UpdateChild ()
 

Private Member Functions

void cmdVelCallback (const geometry_msgs::Twist::ConstPtr &cmd_msg)
 
void getWheelVelocities ()
 
void publishOdometry (double step_time)
 
void QueueThread ()
 

Private Attributes

bool alive_
 
boost::thread callback_queue_thread_
 
ros::Subscriber cmd_vel_subscriber_
 
std::string command_topic_
 
std::vector< std::string > joint_names_ [2]
 
std::vector< physics::JointPtr > joints_ [2]
 
common::Time last_update_time_
 
boost::mutex lock
 
nav_msgs::Odometry odom_
 
std::string odometry_frame_
 
ros::Publisher odometry_publisher_
 
std::string odometry_topic_
 
physics::ModelPtr parent
 
bool publish_odometry_msg_
 
bool publish_odometry_tf_
 
ros::CallbackQueue queue_
 
std::string robot_base_frame_
 
std::string robot_namespace_
 
ros::NodeHandlerosnode_
 
double rot_
 
std::string tf_prefix_
 
double torque
 
tf::TransformBroadcastertransform_broadcaster_
 
event::ConnectionPtr update_connection_
 
double update_period_
 
double update_rate_
 
double wheel_diameter_
 
double wheel_separation_
 
double wheel_speed_ [2]
 
physics::WorldPtr world
 
double x_
 

Detailed Description

Definition at line 104 of file diffdrive_plugin_multi_wheel.h.

Constructor & Destructor Documentation

gazebo::GazeboRosDiffDriveMultiWheel::GazeboRosDiffDriveMultiWheel ( )

Definition at line 105 of file diffdrive_plugin_multi_wheel.cpp.

gazebo::GazeboRosDiffDriveMultiWheel::~GazeboRosDiffDriveMultiWheel ( )

Definition at line 108 of file diffdrive_plugin_multi_wheel.cpp.

Member Function Documentation

void gazebo::GazeboRosDiffDriveMultiWheel::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr &  cmd_msg)
private

Definition at line 352 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::FiniChild ( )
protectedvirtual

Definition at line 334 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::getWheelVelocities ( )
private

Definition at line 342 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::Load ( physics::ModelPtr  _parent,
sdf::ElementPtr  _sdf 
)

Definition at line 114 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::publishOdometry ( double  step_time)
private

Definition at line 368 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::QueueThread ( )
private

Definition at line 360 of file diffdrive_plugin_multi_wheel.cpp.

void gazebo::GazeboRosDiffDriveMultiWheel::UpdateChild ( )
protectedvirtual

Definition at line 303 of file diffdrive_plugin_multi_wheel.cpp.

Member Data Documentation

bool gazebo::GazeboRosDiffDriveMultiWheel::alive_
private

Definition at line 158 of file diffdrive_plugin_multi_wheel.h.

boost::thread gazebo::GazeboRosDiffDriveMultiWheel::callback_queue_thread_
private

Definition at line 150 of file diffdrive_plugin_multi_wheel.h.

ros::Subscriber gazebo::GazeboRosDiffDriveMultiWheel::cmd_vel_subscriber_
private

Definition at line 135 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::command_topic_
private

Definition at line 143 of file diffdrive_plugin_multi_wheel.h.

std::vector<std::string> gazebo::GazeboRosDiffDriveMultiWheel::joint_names_[2]
private

Definition at line 123 of file diffdrive_plugin_multi_wheel.h.

std::vector<physics::JointPtr> gazebo::GazeboRosDiffDriveMultiWheel::joints_[2]
private

Definition at line 130 of file diffdrive_plugin_multi_wheel.h.

common::Time gazebo::GazeboRosDiffDriveMultiWheel::last_update_time_
private

Definition at line 163 of file diffdrive_plugin_multi_wheel.h.

boost::mutex gazebo::GazeboRosDiffDriveMultiWheel::lock
private

Definition at line 140 of file diffdrive_plugin_multi_wheel.h.

nav_msgs::Odometry gazebo::GazeboRosDiffDriveMultiWheel::odom_
private

Definition at line 137 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::odometry_frame_
private

Definition at line 145 of file diffdrive_plugin_multi_wheel.h.

ros::Publisher gazebo::GazeboRosDiffDriveMultiWheel::odometry_publisher_
private

Definition at line 134 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::odometry_topic_
private

Definition at line 144 of file diffdrive_plugin_multi_wheel.h.

physics::ModelPtr gazebo::GazeboRosDiffDriveMultiWheel::parent
private

Definition at line 120 of file diffdrive_plugin_multi_wheel.h.

bool gazebo::GazeboRosDiffDriveMultiWheel::publish_odometry_msg_
private

Definition at line 166 of file diffdrive_plugin_multi_wheel.h.

bool gazebo::GazeboRosDiffDriveMultiWheel::publish_odometry_tf_
private

Definition at line 165 of file diffdrive_plugin_multi_wheel.h.

ros::CallbackQueue gazebo::GazeboRosDiffDriveMultiWheel::queue_
private

Definition at line 149 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::robot_base_frame_
private

Definition at line 146 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::robot_namespace_
private

Definition at line 142 of file diffdrive_plugin_multi_wheel.h.

ros::NodeHandle* gazebo::GazeboRosDiffDriveMultiWheel::rosnode_
private

Definition at line 133 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::rot_
private

Definition at line 157 of file diffdrive_plugin_multi_wheel.h.

std::string gazebo::GazeboRosDiffDriveMultiWheel::tf_prefix_
private

Definition at line 138 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::torque
private

Definition at line 127 of file diffdrive_plugin_multi_wheel.h.

tf::TransformBroadcaster* gazebo::GazeboRosDiffDriveMultiWheel::transform_broadcaster_
private

Definition at line 136 of file diffdrive_plugin_multi_wheel.h.

event::ConnectionPtr gazebo::GazeboRosDiffDriveMultiWheel::update_connection_
private

Definition at line 121 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::update_period_
private

Definition at line 162 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::update_rate_
private

Definition at line 161 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::wheel_diameter_
private

Definition at line 126 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::wheel_separation_
private

Definition at line 125 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::wheel_speed_[2]
private

Definition at line 128 of file diffdrive_plugin_multi_wheel.h.

physics::WorldPtr gazebo::GazeboRosDiffDriveMultiWheel::world
private

Definition at line 119 of file diffdrive_plugin_multi_wheel.h.

double gazebo::GazeboRosDiffDriveMultiWheel::x_
private

Definition at line 156 of file diffdrive_plugin_multi_wheel.h.


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


hector_gazebo_plugins
Author(s): Stefan Kohlbrecher , Johannes Meyer
autogenerated on Fri Feb 5 2021 03:48:30