This namespace groups all typedefs, utility functions and parameter getter used in the simulation_us 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::Range >	scan_msg_ptr
	shortcut for a pointer to a range 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	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	fetchUSFFrameID (ros::NodeHandle *nh, std::string &usfFrameID)
	Get front ultra sonic sensor frame id launch parameter. More...

void	fetchUSFTopic (ros::NodeHandle *nh, std::string &usfTopic)
	Get front ultra sonic sensor topic launch parameter. More...

void	fetchUSLFrameID (ros::NodeHandle *nh, std::string &uslFrameID)
	Get left ultra sonic sensor frame id launch parameter. More...

void	fetchUSLTopic (ros::NodeHandle *nh, std::string &uslTopic)
	Get left ultra sonic sensor topic launch parameter. More...

void	fetchUSRFrameID (ros::NodeHandle *nh, std::string &usrFrameID)
	Get right ultra sonic sensor frame id launch parameter. More...

void	fetchUSRTopic (ros::NodeHandle *nh, std::string &usrTopic)
	Get right ultra sonic sensor topic 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 &sensor, nav_msgs::MapMetaData &mapInfo)
	Calculate the occupancy grid postion of a given pose. More...

Variables
static const double	DEFAULT_LOOP_RATE = 30.0

static const std::string	DEFAULT_MAP_FRAME_ID = "map"

static const std::string	DEFAULT_MAP_LOCATION

static const std::string	DEFAULT_MAP_METADATA_LOCATION

static const std::string	DEFAULT_US_FRONT_FRAME_ID = "front_sensor"

static const std::string	DEFAULT_US_FRONT_TOPIC = "/uc_bridge/usf"

static const std::string	DEFAULT_US_LEFT_FRAME_ID = "left_sensor"

static const std::string	DEFAULT_US_LEFT_TOPIC = "/uc_bridge/usl"

static const std::string	DEFAULT_US_RIGHT_FRAME_ID = "right_sensor"

static const std::string	DEFAULT_US_RIGHT_TOPIC = "/uc_bridge/usr"

Detailed Description

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

Typedef Documentation

usscan::us::pose_msg_ptr

shortcut for a pointer to a pose message

Definition at line 83 of file simulation_us.cpp.

usscan::us::scan_msg_ptr

shortcut for a pointer to a range message

Definition at line 78 of file simulation_us.cpp.

Function Documentation

void usscan::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 165 of file simulation_us.cpp.

void usscan::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 193 of file simulation_us.cpp.

void usscan::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 341 of file simulation_us.cpp.

void usscan::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 260 of file simulation_us.cpp.

void usscan::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 276 of file simulation_us.cpp.

void usscan::fetchUSFFrameID	(	ros::NodeHandle *	nh,
		std::string &	usfFrameID
	)

Get front ultra sonic sensor frame id launch parameter.

Parameters

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

Definition at line 309 of file simulation_us.cpp.

void usscan::fetchUSFTopic	(	ros::NodeHandle *	nh,
		std::string &	usfTopic
	)

Get front ultra sonic sensor topic launch parameter.

Parameters

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

Definition at line 227 of file simulation_us.cpp.

void usscan::fetchUSLFrameID	(	ros::NodeHandle *	nh,
		std::string &	uslFrameID
	)

Get left ultra sonic sensor frame id launch parameter.

Parameters

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

Definition at line 325 of file simulation_us.cpp.

void usscan::fetchUSLTopic	(	ros::NodeHandle *	nh,
		std::string &	uslTopic
	)

Get left ultra sonic sensor topic launch parameter.

Parameters

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

Definition at line 244 of file simulation_us.cpp.

void usscan::fetchUSRFrameID	(	ros::NodeHandle *	nh,
		std::string &	usrFrameID
	)

Get right ultra sonic sensor frame id launch parameter.

Parameters

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

Definition at line 293 of file simulation_us.cpp.

void usscan::fetchUSRTopic	(	ros::NodeHandle *	nh,
		std::string &	usrTopic
	)

Get right ultra sonic sensor topic launch parameter.

Parameters

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

Definition at line 210 of file simulation_us.cpp.

void usscan::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 111 of file simulation_us.cpp.

cv::Point usscan::setGridPosition	(	geometry_msgs::Pose &	sensor,
		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 90 of file simulation_us.cpp.

Variable Documentation

const double usscan::DEFAULT_LOOP_RATE = 30.0

static

Frequency of this simulation.

Definition at line 174 of file simulation_us.cpp.

const std::string usscan::DEFAULT_MAP_FRAME_ID = "map"

static

Coordinate system id of the map

Definition at line 186 of file simulation_us.cpp.

const std::string usscan::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 178 of file simulation_us.cpp.

const std::string usscan::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 180 of file simulation_us.cpp.

const std::string usscan::DEFAULT_US_FRONT_FRAME_ID = "front_sensor"

static

Coordinate system id of the front sensor

Definition at line 184 of file simulation_us.cpp.

const std::string usscan::DEFAULT_US_FRONT_TOPIC = "/uc_bridge/usf"

static

Topic to which this node publishes front sensor information.

Definition at line 176 of file simulation_us.cpp.

const std::string usscan::DEFAULT_US_LEFT_FRAME_ID = "left_sensor"

static

Coordinate system id of the left sensor

Definition at line 185 of file simulation_us.cpp.

const std::string usscan::DEFAULT_US_LEFT_TOPIC = "/uc_bridge/usl"

static

Topic to which this node publishes left sensor information.

Definition at line 177 of file simulation_us.cpp.

const std::string usscan::DEFAULT_US_RIGHT_FRAME_ID = "right_sensor"

static

Coordinate system id of the right sensor

Definition at line 183 of file simulation_us.cpp.

const std::string usscan::DEFAULT_US_RIGHT_TOPIC = "/uc_bridge/usr"

static

Topic to which this node publishes right sensor information.

Definition at line 175 of file simulation_us.cpp.

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation