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gazebo::CPCROSPlugin

Inherits from gazebo::ROSBaseModelPlugin, gazebo::ROSBasePlugin, ModelPlugin

Public Functions

Name
CPCROSPlugin()
Class constructor.
virtual ~CPCROSPlugin()
Class destructor.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load the plugin.

Protected Functions

Name
virtual bool OnUpdate(const common::UpdateInfo & _info)
Update sensor measurement.
virtual void OnPlumeParticlesUpdate(const sensor_msgs::PointCloud::ConstPtr & _msg)
Update callback from simulator.

Protected Attributes

Name
ros::Subscriber particlesSub
Input topic for the plume particle point cloud.
ros::Publisher salinityPub
Output topic for salinity measurements based on the particle concentration.
bool updatingCloud
Flag to ensure the cloud and measurement update don't coincide.
double gamma
Gamma velocity parameter for the smoothing function.
double gain
Sensor gain.
double smoothingLength
ros::Time lastUpdateTimestamp
Last update from the point cloud callback.
uuv_sensor_ros_plugins_msgs::ChemicalParticleConcentration outputMsg
Output measurement topic.
uuv_sensor_ros_plugins_msgs::Salinity salinityMsg
Output salinity measurement message.
double waterSalinityValue
double plumeSalinityValue

Additional inherited members

Public Functions inherited from gazebo::ROSBaseModelPlugin

Name
ROSBaseModelPlugin()
Class constructor.
virtual ~ROSBaseModelPlugin()
Class destructor.

Protected Functions inherited from gazebo::ROSBaseModelPlugin

Name
void SendLocalNEDTransform()
Returns true if the base_link_ned frame exists.

Protected Attributes inherited from gazebo::ROSBaseModelPlugin

Name
physics::ModelPtr model
Pointer to the model.
physics::LinkPtr link
Pointer to the link.
bool enableLocalNEDFrame
True if a the local NED frame needs to be broadcasted.
tf::TransformBroadcaster * tfBroadcaster
TF broadcaster for the local NED frame.
ignition::math::Pose3d localNEDFrame
Pose of the local NED frame wrt link frame.
tf::StampedTransform tfLocalNEDFrame
Local NED TF frame.

Public Functions inherited from gazebo::ROSBasePlugin

Name
ROSBasePlugin()
Class constructor.
virtual ~ROSBasePlugin()
Class destructor.
bool InitBasePlugin(sdf::ElementPtr _sdf)
Initialize base plugin.
bool AddNoiseModel(std::string _name, double _sigma)
Add noise normal distribution to the list.

Protected Functions inherited from gazebo::ROSBasePlugin

Name
bool IsOn()
Returns true if the plugin is activated.
void PublishState()
Publish the current state of the plugin.
bool ChangeSensorState(uuv_sensor_ros_plugins_msgs::ChangeSensorState::Request & _req, uuv_sensor_ros_plugins_msgs::ChangeSensorState::Response & _res)
Change sensor state (ON/OFF)
void GetTFMessage(const tf::tfMessage::ConstPtr & _msg)
Callback function for the static TF message.
double GetGaussianNoise(double _amp)
Returns noise value for a function with zero mean from the default Gaussian noise model.
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.
bool EnableMeasurement(const common::UpdateInfo & _info) const
Enables generation of simulated measurement if the timeout since the last update has been reached.
void UpdateReferenceFramePose()
Updates the pose of the reference frame wrt the world frame.

Protected Attributes inherited from gazebo::ROSBasePlugin

Name
std::string robotNamespace
Robot namespace.
std::string sensorOutputTopic
Name of the sensor's output topic.
physics::WorldPtr world
Pointer to the world.
event::ConnectionPtr updateConnection
Pointer to the update event connection.
common::Time lastMeasurementTime
(Simulation) time when the last sensor measurement was generated.
double updateRate
Sensor update rate.
double noiseSigma
Noise standard deviation.
double noiseAmp
Noise amplitude.
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.
std::default_random_engine rndGen
Pseudo random number generator.
std::map< std::string, std::normal_distribution< double > > noiseModels
Normal distribution describing the noise models.
std_msgs::Bool isOn
Flag to control the generation of output messages.
boost::shared_ptr< ros::NodeHandle > rosNode
ROS node handle for communication with ROS.
transport::NodePtr gazeboNode
Gazebo's node handle for transporting measurement messages.
ros::Publisher rosSensorOutputPub
Gazebo's publisher for transporting measurement messages.
transport::PublisherPtr gazeboSensorOutputPub
Gazebo's publisher for transporting measurement messages.
ros::ServiceServer changeSensorSrv
Service server object.
ros::Publisher pluginStatePub
ROS publisher for the switchable sensor data.
ignition::math::Pose3d referenceFrame
Pose of the reference frame wrt world frame.
ros::Subscriber tfStaticSub
ROS subscriber for the TF static reference frame.
std::string referenceFrameID
Frame ID of the reference frame.
bool isReferenceInit
Flag set to true if reference frame initialized.
physics::LinkPtr referenceLink
Reference link.

Public Functions Documentation

function CPCROSPlugin

CPCROSPlugin()

Class constructor.

function ~CPCROSPlugin

virtual ~CPCROSPlugin()

Class destructor.

function Load

virtual void Load(
    physics::ModelPtr _model,
    sdf::ElementPtr _sdf
)

Load the plugin.

Reimplements: gazebo::ROSBaseModelPlugin::Load

Protected Functions Documentation

function OnUpdate

virtual bool OnUpdate(
    const common::UpdateInfo & _info
)

Update sensor measurement.

Reimplements: gazebo::ROSBaseModelPlugin::OnUpdate

function OnPlumeParticlesUpdate

virtual void OnPlumeParticlesUpdate(
    const sensor_msgs::PointCloud::ConstPtr & _msg
)

Update callback from simulator.

Protected Attributes Documentation

variable particlesSub

ros::Subscriber particlesSub;

Input topic for the plume particle point cloud.

variable salinityPub

ros::Publisher salinityPub;

Output topic for salinity measurements based on the particle concentration.

variable updatingCloud

bool updatingCloud;

Flag to ensure the cloud and measurement update don't coincide.

variable gamma

double gamma;

Gamma velocity parameter for the smoothing function.

variable gain

double gain;

Sensor gain.

variable smoothingLength

double smoothingLength;

variable lastUpdateTimestamp

ros::Time lastUpdateTimestamp;

Last update from the point cloud callback.

variable outputMsg

uuv_sensor_ros_plugins_msgs::ChemicalParticleConcentration outputMsg;

Output measurement topic.

variable salinityMsg

uuv_sensor_ros_plugins_msgs::Salinity salinityMsg;

Output salinity measurement message.

variable waterSalinityValue

double waterSalinityValue;

variable plumeSalinityValue

double plumeSalinityValue;

Updated on 2022-06-01 at 12:37:01 +0000

Last update: June 1, 2022
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