Visual plugin for changing the color of some visual elements using ROS messages. This plugin accepts the following SDF parameters: More...

#include <light_buoy_plugin.hh>

Inheritance diagram for LightBuoyPlugin:

[legend]

Public Member Functions
void	Load (gazebo::rendering::VisualPtr _parent, sdf::ElementPtr _sdf)

Private Types
using	Colors_t = std::pair< std_msgs::ColorRGBA, std::string >

using	Pattern_t = std::array< uint8_t, 4 >

Private Member Functions
bool	ChangePattern (std_srvs::Trigger::Request &_req, std_srvs::Trigger::Response &_res)
	Callback for change pattern service, calls other changePattern internaly. More...

void	ChangePattern (std::string &_message)
	Generate a new pattern and reset state to OFF. More...

bool	ParseSDF (sdf::ElementPtr _sdf)
	Parse all SDF parameters. More...

void	Update ()
	Display the next color in the sequence, or start over if at the end. More...

Static Private Member Functions
static std_msgs::ColorRGBA	CreateColor (const double _r, const double _g, const double _b, const double _a)
	Creates a std_msgs::ColorRGBA message from 4 doubles. More...

static uint8_t	IndexFromColor (const std::string &_color)
	Return the index of the color from its string. More...

Private Attributes
ros::ServiceServer	changePatternServer
	Service to generate and display a new color sequence. More...

std::mutex	mutex
	Locks state and pattern member variables. More...

ros::NodeHandle	nh
	ROS Node handle. More...

std::string	ns
	ROS namespace. More...

Pattern_t	pattern
	The color pattern. More...

gazebo::rendering::ScenePtr	scene
	Pointer to the scene node. More...

bool	shuffleEnabled = true
	Whether shuffle is enabled via a ROS topic or not. More...

uint8_t	state = 0u
	Track current index in pattern. More...

gazebo::common::Timer	timer
	Timer used to switch colors every second. More...

std::string	topic
	ROS topic. More...

gazebo::event::ConnectionPtr	updateConnection
	Connects to rendering update event. More...

std::vector< std::string >	visualNames
	Collection of visual names. More...

std::vector< gazebo::rendering::VisualPtr >	visuals
	Pointer to the visual elements to modify. More...

Static Private Attributes
static const std::array< Colors_t, 5 >	kColors
	List of the color options (red, green, blue, yellow and no color) with their string name for logging. More...

Detailed Description

Visual plugin for changing the color of some visual elements using ROS messages. This plugin accepts the following SDF parameters:

<color_1>: The first color of the sequence (RED, GREEN, BLUE, YELLOW). <color_2>: The second color of the sequence (RED, GREEN, BLUE, YELLOW). <color_3>: The third color of the sequence (RED, GREEN, BLUE, YELLOW). <shuffle>: True if the topic for shuffling the sequence is enabled. <robot_namespace>: The ROS namespace for this node. If not present, the model name without any "::"" will be used. E.g.: The plugin under a visual named "model1::my_submodel::link::visual" will use "model1" as namespace unless a value is specified. <topic>: The ROS topic used to request color changes. <visuals>: The collection of visuals that change in color. It accepts N elements of <visual> elements.

Here's an example: <plugin name="light_buoy_plugin" filename="liblight_buoy_plugin.so"> <color_1>RED</color_1> <color_2>GREEN</color_2> <color_3>BLUE</color_3> <visuals> <visual>robotx_light_buoy::base_link::panel_1</visual> <visual>robotx_light_buoy::base_link::panel_2</visual> <visual>robotx_light_buoy::base_link::panel_3</visual> </visuals> <shuffle>true</shuffle> <robot_namespace>light_buoy</robot_namespace> <topic>light_buoy/shuffle</topic> </plugin>

Definition at line 64 of file light_buoy_plugin.hh.

Member Typedef Documentation

using LightBuoyPlugin::Colors_t = std::pair<std_msgs::ColorRGBA, std::string>

private

Definition at line 110 of file light_buoy_plugin.hh.

using LightBuoyPlugin::Pattern_t = std::array<uint8_t, 4>

private

Definition at line 114 of file light_buoy_plugin.hh.

Member Function Documentation

bool LightBuoyPlugin::ChangePattern	(	std_srvs::Trigger::Request &	_req,
		std_srvs::Trigger::Response &	_res
	)

private

Callback for change pattern service, calls other changePattern internaly.

Parameters

[in]	_req	Not used.
[out]	_res	The Response containing a message with the new pattern.

Returns: True when the operation succeed or false otherwise.

Definition at line 207 of file light_buoy_plugin.cc.

void LightBuoyPlugin::ChangePattern ( std::string & _message )

private

Generate a new pattern and reset state to OFF.

Parameters

[in,out] _message The current pattern in string format, where each color is represented with its initial letter. E.g.: "RYG".

Definition at line 217 of file light_buoy_plugin.cc.

std_msgs::ColorRGBA LightBuoyPlugin::CreateColor	(	const double	_r,
		const double	_g,
		const double	_b,
		const double	_a
	)

staticprivate

Creates a std_msgs::ColorRGBA message from 4 doubles.

Parameters

[in]	_r	Red.
[in]	_g	Green.
[in]	_b	Blue.
[in]	_a	Alpha.

Returns: The ColorRGBA message.

Definition at line 30 of file light_buoy_plugin.cc.

uint8_t LightBuoyPlugin::IndexFromColor ( const std::string & _color )

staticprivate

Return the index of the color from its string.

Parameters

[in] _color The color

Returns: The index in kColors.

Definition at line 42 of file light_buoy_plugin.cc.

void LightBuoyPlugin::Load	(	gazebo::rendering::VisualPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Definition at line 57 of file light_buoy_plugin.cc.

bool LightBuoyPlugin::ParseSDF ( sdf::ElementPtr _sdf )

private

Parse all SDF parameters.

Parameters

[in] _sdf SDF elements.

Definition at line 93 of file light_buoy_plugin.cc.

void LightBuoyPlugin::Update ( )

private

Display the next color in the sequence, or start over if at the end.

Parameters

[in] _event Not used.

Definition at line 164 of file light_buoy_plugin.cc.

Member Data Documentation

ros::ServiceServer LightBuoyPlugin::changePatternServer

private

Service to generate and display a new color sequence.

Definition at line 130 of file light_buoy_plugin.hh.

const std::array< LightBuoyPlugin::Colors_t, 5 > LightBuoyPlugin::kColors

staticprivate

Initial value:

= {LightBuoyPlugin::Colors_t(CreateColor(1.0, 0.0, 0.0, 1.0), "RED"),
     LightBuoyPlugin::Colors_t(CreateColor(0.0, 1.0, 0.0, 1.0), "GREEN"),
     LightBuoyPlugin::Colors_t(CreateColor(0.0, 0.0, 1.0, 1.0), "BLUE"),
     LightBuoyPlugin::Colors_t(CreateColor(1.0, 1.0, 0.0, 1.0), "YELLOW"),
     LightBuoyPlugin::Colors_t(CreateColor(0.0, 0.0, 0.0, 1.0), "OFF")}

List of the color options (red, green, blue, yellow and no color) with their string name for logging.

Definition at line 118 of file light_buoy_plugin.hh.

std::mutex LightBuoyPlugin::mutex

private

Locks state and pattern member variables.

Definition at line 158 of file light_buoy_plugin.hh.

ros::NodeHandle LightBuoyPlugin::nh

private

ROS Node handle.

Definition at line 133 of file light_buoy_plugin.hh.

std::string LightBuoyPlugin::ns

private

ROS namespace.

Definition at line 143 of file light_buoy_plugin.hh.

Pattern_t LightBuoyPlugin::pattern

private

The color pattern.

Definition at line 136 of file light_buoy_plugin.hh.

gazebo::rendering::ScenePtr LightBuoyPlugin::scene

private

Pointer to the scene node.

Definition at line 149 of file light_buoy_plugin.hh.

bool LightBuoyPlugin::shuffleEnabled = true

private

Whether shuffle is enabled via a ROS topic or not.

Definition at line 127 of file light_buoy_plugin.hh.

uint8_t LightBuoyPlugin::state = 0u

private

Track current index in pattern.

See also: IncrementState(const ros::TimerEvent &_event)

Definition at line 140 of file light_buoy_plugin.hh.

gazebo::common::Timer LightBuoyPlugin::timer

private

Timer used to switch colors every second.

Definition at line 155 of file light_buoy_plugin.hh.

std::string LightBuoyPlugin::topic

private

ROS topic.

Definition at line 146 of file light_buoy_plugin.hh.

gazebo::event::ConnectionPtr LightBuoyPlugin::updateConnection

private

Connects to rendering update event.

Definition at line 152 of file light_buoy_plugin.hh.

std::vector<std::string> LightBuoyPlugin::visualNames

private

Collection of visual names.

Definition at line 121 of file light_buoy_plugin.hh.

std::vector<gazebo::rendering::VisualPtr> LightBuoyPlugin::visuals

private

Pointer to the visual elements to modify.

Definition at line 124 of file light_buoy_plugin.hh.

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

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation