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ThrusterROSPlugin

class uuv_simulator_ros::ThrusterROSPlugin

class uuv_simulator_ros::ThrusterROSPlugin
  : public ThrusterPlugin

Summary

Members	Descriptions
publicThrusterROSPlugin()	Constrcutor.
public~ThrusterROSPlugin()	Destructor.
public voidLoad(gazebo::physics::ModelPtr _parent,sdf::ElementPtr _sdf)	Load module and read parameters from SDF.
public voidRosPublishStates()	Publish thruster state via ROS.
public voidSetThrustReference(const uuv_gazebo_ros_plugins_msgs::FloatStamped::ConstPtr & _msg)	Set new set point (desired thrust [N]) for thruster.
public gazebo::common::TimeGetRosPublishPeriod()	Return the ROS publish period.
public voidSetRosPublishRate(double _hz)	Set the ROS publish frequency (Hz).
public virtual voidInit()	Initialize Module.
public virtual voidReset()	Reset Module.
public boolSetThrustForceEfficiency(uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Request & _req,uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Response & _res)	Set the thrust efficiency factor.
public boolGetThrustForceEfficiency(uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Request & _req,uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Response & _res)	Get the thrust efficiency factor.
public boolSetDynamicStateEfficiency(uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Request & _req,uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Response & _res)	Set the dynamic state efficiency factor.
public boolGetDynamicStateEfficiency(uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Request & _req,uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Response & _res)	Get the dynamic state efficiency factor.
public boolSetThrusterState(uuv_gazebo_ros_plugins_msgs::SetThrusterState::Request & _req,uuv_gazebo_ros_plugins_msgs::SetThrusterState::Response & _res)	Turn thruster on/off.
public boolGetThrusterState(uuv_gazebo_ros_plugins_msgs::GetThrusterState::Request & _req,uuv_gazebo_ros_plugins_msgs::GetThrusterState::Response & _res)	Get thruster state.
public boolGetThrusterConversionFcn(uuv_gazebo_ros_plugins_msgs::GetThrusterConversionFcn::Request & _req,uuv_gazebo_ros_plugins_msgs::GetThrusterConversionFcn::Response & _res)	Get thruster conversion function parameters.

Members

publicThrusterROSPlugin()

Constrcutor.

public~ThrusterROSPlugin()

Destructor.

public voidLoad(gazebo::physics::ModelPtr _parent,sdf::ElementPtr _sdf)

Load module and read parameters from SDF.

public voidRosPublishStates()

Publish thruster state via ROS.

public voidSetThrustReference(const uuv_gazebo_ros_plugins_msgs::FloatStamped::ConstPtr & _msg)

Set new set point (desired thrust [N]) for thruster.

public gazebo::common::TimeGetRosPublishPeriod()

Return the ROS publish period.

public voidSetRosPublishRate(double _hz)

Set the ROS publish frequency (Hz).

public virtual voidInit()

Initialize Module.

public virtual voidReset()

Reset Module.

public boolSetThrustForceEfficiency(uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Request & _req,uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Response & _res)

Set the thrust efficiency factor.

public boolGetThrustForceEfficiency(uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Request & _req,uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Response & _res)

Get the thrust efficiency factor.

public boolSetDynamicStateEfficiency(uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Request & _req,uuv_gazebo_ros_plugins_msgs::SetThrusterEfficiency::Response & _res)

Set the dynamic state efficiency factor.

public boolGetDynamicStateEfficiency(uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Request & _req,uuv_gazebo_ros_plugins_msgs::GetThrusterEfficiency::Response & _res)

Get the dynamic state efficiency factor.

public boolSetThrusterState(uuv_gazebo_ros_plugins_msgs::SetThrusterState::Request & _req,uuv_gazebo_ros_plugins_msgs::SetThrusterState::Response & _res)

Turn thruster on/off.

public boolGetThrusterState(uuv_gazebo_ros_plugins_msgs::GetThrusterState::Request & _req,uuv_gazebo_ros_plugins_msgs::GetThrusterState::Response & _res)

Get thruster state.

public boolGetThrusterConversionFcn(uuv_gazebo_ros_plugins_msgs::GetThrusterConversionFcn::Request & _req,uuv_gazebo_ros_plugins_msgs::GetThrusterConversionFcn::Response & _res)

Get thruster conversion function parameters.