This namespace groups all typedefs, utility functions and parameter getter used in the simulation_laser node. More...

Typedefs
typedef std::shared_ptr< geometry_msgs::Pose >	pose_msg_ptr
	shortcut for a pointer to a pose message More...

typedef std::shared_ptr< sensor_msgs::LaserScan >	scan_msg_ptr
	shortcut for a pointer to a laser scan message More...

Functions
void	configCallback (pses_simulation::RangeSensorConfig &config, uint32_t level, rs::RangeSensor sensor, pses_simulation::RangeSensorConfig dynConfig)
	Sets the RangeSensorConfig object of this sensor simulation. More...

void	fetchLaserscanFrameID (ros::NodeHandle *nh, std::string &laserscanFrameID)
	Get laser scan frame id launch parameter. More...

void	fetchLaserScanTopic (ros::NodeHandle *nh, std::string &laserScanTopic)
	Get laser scan topic launch parameter. More...

void	fetchLoopRate (ros::NodeHandle *nh, double &loopRate)
	Get loop rate launch parameter. More...

void	fetchMapFrameID (ros::NodeHandle *nh, std::string &mapFrameID)
	Get map frame id launch parameter. More...

void	fetchMapLocation (ros::NodeHandle *nh, std::string &mapLocation)
	Get map location launch parameter. More...

void	fetchMapMetadataLocation (ros::NodeHandle *nh, std::string &mapMetadataLocation)
	Get map meta data location launch parameter. More...

void	getPositionInfo (const std::string &base_frame, const std::string &target_frame, const tf::TransformListener &listener, geometry_msgs::Pose position, std::vector< double > rpy)
	Get the current postion of a sensor from the tf transformation service. More...

cv::Point	setGridPosition (geometry_msgs::Pose &laser, nav_msgs::MapMetaData &mapInfo)
	Calculate the occupancy grid postion of a given pose. More...

Variables
static const std::string	DEFAULT_LASER_SCAN_TOPIC

static const std::string	DEFAULT_LASERSCAN_FRAME_ID

static const double	DEFAULT_LOOP_RATE

static const std::string	DEFAULT_MAP_FRAME_ID

static const std::string	DEFAULT_MAP_LOCATION

static const std::string	DEFAULT_MAP_METADATA_LOCATION

Detailed Description

This namespace groups all typedefs, utility functions and parameter getter used in the simulation_laser node.

Typedef Documentation

laserscan::pose_msg_ptr

shortcut for a pointer to a pose message

Definition at line 84 of file simulation_laser.cpp.

laserscan::scan_msg_ptr

shortcut for a pointer to a laser scan message

Definition at line 79 of file simulation_laser.cpp.

Function Documentation

void laserscan::configCallback	(	pses_simulation::RangeSensorConfig &	config,
		uint32_t	level,
		rs::RangeSensor *	sensor,
		pses_simulation::RangeSensorConfig *	dynConfig
	)

Sets the RangeSensorConfig object of this sensor simulation.

Parameters

[in]	config	dynamic reconfigure object to reconfigure this sensor
[in]	level	unused
[in]	sensor	current sensor simulation
[out]	dynConfig	dynamic reconfigure object to reconfigure this sensor

Definition at line 166 of file simulation_laser.cpp.

void laserscan::fetchLaserscanFrameID	(	ros::NodeHandle *	nh,
		std::string &	laserscanFrameID
	)

Get laser scan frame id launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	laserscanFrameID	coordinate system id of this sensor

Definition at line 262 of file simulation_laser.cpp.

void laserscan::fetchLaserScanTopic	(	ros::NodeHandle *	nh,
		std::string &	laserScanTopic
	)

Get laser scan topic launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	laserScanTopic	topic to which this node publishes sensor information.

Definition at line 213 of file simulation_laser.cpp.

void laserscan::fetchLoopRate	(	ros::NodeHandle *	nh,
		double &	loopRate
	)

Get loop rate launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	loopRate	loop rate in Hz

Definition at line 196 of file simulation_laser.cpp.

void laserscan::fetchMapFrameID	(	ros::NodeHandle *	nh,
		std::string &	mapFrameID
	)

Get map frame id launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	mapFrameID	coordinate system id of the map

Definition at line 278 of file simulation_laser.cpp.

void laserscan::fetchMapLocation	(	ros::NodeHandle *	nh,
		std::string &	mapLocation
	)

Get map location launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	mapLocation	path to the occupancy grid file (map)

Definition at line 229 of file simulation_laser.cpp.

void laserscan::fetchMapMetadataLocation	(	ros::NodeHandle *	nh,
		std::string &	mapMetadataLocation
	)

Get map meta data location launch parameter.

Parameters

[in]	nh	pointer to a ros::NodeHandle object
[out]	mapMetadataLocation	path to the map meta data file

Definition at line 245 of file simulation_laser.cpp.

void laserscan::getPositionInfo	(	const std::string &	base_frame,
		const std::string &	target_frame,
		const tf::TransformListener &	listener,
		geometry_msgs::Pose *	position,
		std::vector< double > *	rpy
	)

Get the current postion of a sensor from the tf transformation service.

Parameters

[in]	base_frame	frame id of the map coordinate system
[in]	target_frame	frame id of the sensor coordinate system
[in]	listener	tf transformation service
[out]	position	current position of the sensor
[out]	rpy	current orientation of the sensor (0: roll, 1:pitch, 2:yaw)

Definition at line 112 of file simulation_laser.cpp.

cv::Point laserscan::setGridPosition	(	geometry_msgs::Pose &	laser,
		nav_msgs::MapMetaData &	mapInfo
	)

Calculate the occupancy grid postion of a given pose.

Parameters

[in]	laser	pose message of the sensor
[in]	mapInfo	occupancy grid meta information

Returns: a point in image coordinates

Definition at line 92 of file simulation_laser.cpp.

Variable Documentation

const std::string laserscan::DEFAULT_LASER_SCAN_TOPIC

static

Initial value:

=

"scan"

Topic to which this node publishes sensor information.

Definition at line 177 of file simulation_laser.cpp.

const std::string laserscan::DEFAULT_LASERSCAN_FRAME_ID

static

Initial value:

=

"scan"

Coordinate system id of this sensor

Definition at line 186 of file simulation_laser.cpp.

const double laserscan::DEFAULT_LOOP_RATE

static

Initial value:

=

30.0

Frequency of this simulation.

Definition at line 175 of file simulation_laser.cpp.

const std::string laserscan::DEFAULT_MAP_FRAME_ID

static

Initial value:

=

"map"

Coordinate system id of the map

Definition at line 188 of file simulation_laser.cpp.

const std::string laserscan::DEFAULT_MAP_LOCATION

static

Initial value:

=

ros::package::getPath("pses_simulation") + "/data/map/map.pgm"

Path to the occupancy grid file (map)

Definition at line 180 of file simulation_laser.cpp.

const std::string laserscan::DEFAULT_MAP_METADATA_LOCATION

static

Initial value:

=

ros::package::getPath("pses_simulation") + "/data/map/map.yaml"

Path to the occupancy grid meta data file

Definition at line 183 of file simulation_laser.cpp.

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation