#include <CPCROSPlugin.hh>
Inheritance diagram for gazebo::CPCROSPlugin:
Public Member Functions | |
| CPCROSPlugin () | |
| Class constructor. More... | |
| virtual void | Load (physics::ModelPtr _model, sdf::ElementPtr _sdf) |
| Load the plugin. More... | |
| virtual | ~CPCROSPlugin () |
| Class destructor. More... | |
 Public Member Functions inherited from gazebo::ROSBaseModelPlugin | |
| ROSBaseModelPlugin () | |
| Class constructor. More... | |
| virtual | ~ROSBaseModelPlugin () |
| Class destructor. More... | |
| Public Member Functions inherited from gazebo::ROSBasePlugin | |
| bool | AddNoiseModel (std::string _name, double _sigma) |
| Add noise normal distribution to the list. More... | |
| bool | InitBasePlugin (sdf::ElementPtr _sdf) |
| Initialize base plugin. More... | |
| ROSBasePlugin () | |
| Class constructor. More... | |
| virtual | ~ROSBasePlugin () |
| Class destructor. More... | |
Protected Member Functions | |
| virtual void | OnPlumeParticlesUpdate (const sensor_msgs::PointCloud::ConstPtr &_msg) |
| Update callback from simulator. More... | |
| virtual bool | OnUpdate (const common::UpdateInfo &_info) |
| Update sensor measurement. More... | |
| Protected Member Functions inherited from gazebo::ROSBaseModelPlugin | |
| void | SendLocalNEDTransform () |
| Returns true if the base_link_ned frame exists. More... | |
| Protected Member Functions inherited from gazebo::ROSBasePlugin | |
| bool | ChangeSensorState (uuv_sensor_ros_plugins_msgs::ChangeSensorState::Request &_req, uuv_sensor_ros_plugins_msgs::ChangeSensorState::Response &_res) |
| Change sensor state (ON/OFF) More... | |
| bool | EnableMeasurement (const common::UpdateInfo &_info) const |
| Enables generation of simulated measurement if the timeout since the last update has been reached. More... | |
| double | GetGaussianNoise (double _amp) |
| Returns noise value for a function with zero mean from the default Gaussian noise model. More... | |
| double | GetGaussianNoise (std::string _name, double _amp) |
| Returns noise value for a function with zero mean from a Gaussian noise model according to the model name. More... | |
| void | GetTFMessage (const tf::tfMessage::ConstPtr &_msg) |
| Callback function for the static TF message. More... | |
| bool | IsOn () |
| Returns true if the plugin is activated. More... | |
| void | PublishState () |
| Publish the current state of the plugin. More... | |
| void | UpdateReferenceFramePose () |
| Updates the pose of the reference frame wrt the world frame. More... | |
Protected Attributes | |
| double | gain |
| Sensor gain. More... | |
| double | gamma |
| Gamma velocity parameter for the smoothing function. More... | |
| ros::Time | lastUpdateTimestamp |
| Last update from the point cloud callback. More... | |
| uuv_sensor_ros_plugins_msgs::ChemicalParticleConcentration | outputMsg |
| Output measurement topic. More... | |
| ros::Subscriber | particlesSub |
| Input topic for the plume particle point cloud. More... | |
| double | plumeSalinityValue |
| uuv_sensor_ros_plugins_msgs::Salinity | salinityMsg |
| Output salinity measurement message. More... | |
| ros::Publisher | salinityPub |
| Output topic for salinity measurements based on the particle concentration. More... | |
| double | smoothingLength |
| bool | updatingCloud |
| Flag to ensure the cloud and measurement update don't coincide. More... | |
| double | waterSalinityValue |
| Protected Attributes inherited from gazebo::ROSBaseModelPlugin | |
| bool | enableLocalNEDFrame |
| True if a the local NED frame needs to be broadcasted. More... | |
| physics::LinkPtr | link |
| Pointer to the link. More... | |
| ignition::math::Pose3d | localNEDFrame |
| Pose of the local NED frame wrt link frame. More... | |
| physics::ModelPtr | model |
| Pointer to the model. More... | |
| tf::TransformBroadcaster * | tfBroadcaster |
| TF broadcaster for the local NED frame. More... | |
| tf::StampedTransform | tfLocalNEDFrame |
| Local NED TF frame. More... | |
| Protected Attributes inherited from gazebo::ROSBasePlugin | |
| ros::ServiceServer | changeSensorSrv |
| Service server object. More... | |
| bool | gazeboMsgEnabled |
| Flag set to true if the Gazebo sensors messages are supposed to be published as well (it can avoid unnecessary overhead in case) the sensor messages needed are only ROS messages. More... | |
| transport::NodePtr | gazeboNode |
| Gazebo's node handle for transporting measurement messages. More... | |
| transport::PublisherPtr | gazeboSensorOutputPub |
| Gazebo's publisher for transporting measurement messages. More... | |
| std_msgs::Bool | isOn |
| Flag to control the generation of output messages. More... | |
| bool | isReferenceInit |
| Flag set to true if reference frame initialized. More... | |
| common::Time | lastMeasurementTime |
| (Simulation) time when the last sensor measurement was generated. More... | |
| double | noiseAmp |
| Noise amplitude. More... | |
| std::map< std::string, std::normal_distribution< double > > | noiseModels |
| Normal distribution describing the noise models. More... | |
| double | noiseSigma |
| Noise standard deviation. More... | |
| ros::Publisher | pluginStatePub |
| ROS publisher for the switchable sensor data. More... | |
| ignition::math::Pose3d | referenceFrame |
| Pose of the reference frame wrt world frame. More... | |
| std::string | referenceFrameID |
| Frame ID of the reference frame. More... | |
| physics::LinkPtr | referenceLink |
| Reference link. More... | |
| std::default_random_engine | rndGen |
| Pseudo random number generator. More... | |
| std::string | robotNamespace |
| Robot namespace. More... | |
| boost::shared_ptr< ros::NodeHandle > | rosNode |
| ROS node handle for communication with ROS. More... | |
| ros::Publisher | rosSensorOutputPub |
| Gazebo's publisher for transporting measurement messages. More... | |
| std::string | sensorOutputTopic |
| Name of the sensor's output topic. More... | |
| ros::Subscriber | tfStaticSub |
| ROS subscriber for the TF static reference frame. More... | |
| event::ConnectionPtr | updateConnection |
| Pointer to the update event connection. More... | |
| double | updateRate |
| Sensor update rate. More... | |
| physics::WorldPtr | world |
| Pointer to the world. More... | |
Detailed Description
Definition at line 29 of file CPCROSPlugin.hh.
Constructor & Destructor Documentation
| gazebo::CPCROSPlugin::CPCROSPlugin | ( | ) |
Class constructor.
Definition at line 21 of file CPCROSPlugin.cc.
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virtual |
Class destructor.
Definition at line 25 of file CPCROSPlugin.cc.
Member Function Documentation
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Load the plugin.
Reimplemented from gazebo::ROSBaseModelPlugin.
Definition at line 29 of file CPCROSPlugin.cc.
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protectedvirtual |
Update callback from simulator.
Definition at line 160 of file CPCROSPlugin.cc.
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protectedvirtual |
Update sensor measurement.
Reimplemented from gazebo::ROSBaseModelPlugin.
Definition at line 117 of file CPCROSPlugin.cc.
Member Data Documentation
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protected |
Sensor gain.
Definition at line 60 of file CPCROSPlugin.hh.
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Gamma velocity parameter for the smoothing function.
Definition at line 57 of file CPCROSPlugin.hh.
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Last update from the point cloud callback.
Definition at line 67 of file CPCROSPlugin.hh.
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Output measurement topic.
Definition at line 71 of file CPCROSPlugin.hh.
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Input topic for the plume particle point cloud.
Definition at line 48 of file CPCROSPlugin.hh.
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Definition at line 78 of file CPCROSPlugin.hh.
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Output salinity measurement message.
Definition at line 74 of file CPCROSPlugin.hh.
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Output topic for salinity measurements based on the particle concentration.
Definition at line 51 of file CPCROSPlugin.hh.
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Definition at line 64 of file CPCROSPlugin.hh.
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Flag to ensure the cloud and measurement update don't coincide.
Definition at line 54 of file CPCROSPlugin.hh.
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Definition at line 76 of file CPCROSPlugin.hh.
The documentation for this class was generated from the following files: