A plugin to control the pendulum robot. More...

#include <pendulum_plugin.h>

Inheritance diagram for gazebo::PendulumPlugin:

Collaboration diagram for gazebo::PendulumPlugin:

Public Types
enum	ControlMode { position = 1 , velocity = 2 , torque = 3 }
	Control mode enumerator. More...

Public Member Functions
	PendulumPlugin ()
	Constructor. More...

virtual	~PendulumPlugin ()
	Destructor. More...

virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	The Load function is called by Gazebo when the plugin is inserted into simulation. More...

double	GetJointForce ()
	Get currently applied force at the joint. More...

void	SetJointForce (const double &_force)
	Apply force at a specific joint. More...

void	SetJointVelocity (const double &_vel)
	Set the velocity of the joint. More...

void	SetJointPosition (const double &_pos)
	Set the position of the joint. More...

void	OnJointStateMsg (const sensor_msgs::JointStateConstPtr &_msg)
	The OnJointStateMsg function handles an incoming joint state message from ROS. More...

void	ProcessQueueThread ()
	The ProcessQueueThread function is a ROS helper function that processes messages. More...

void	PublishQueueThread ()
	The PublishQueueThread function is a ROS helper function that publish state messages. More...

Protected Member Functions
void	InitRos ()
	The initRos function is called to initialize ROS. More...

void	InitRosQueueThreads ()
	The InitRosQueueThreads function is called to initialize the ROS Publish and Process Queue Threads. More...

void	InitJointController ()
	The InitJointControllers function is called to setup joint PID controllers. More...

void	InitJointConfiguration ()
	The InitJointConfiguration function is called to initialize the desired joint configuration. More...

Private Attributes
physics::ModelPtr	model
	Pointer to the model. More...

std::string	model_name
	Model name. More...

physics::JointPtr	joint
	Pointers to the joint. More...

double	vel_p_gain
	Velocity P-gain. More...

double	vel_i_gain
	Velocity I-gain. More...

double	vel_d_gain
	Velocity D-gain. More...

double	pos_p_gain
	Position P-gain. More...

double	pos_i_gain
	Position I-gain. More...

double	pos_d_gain
	Position D-gain. More...

ControlMode	controlMode
	Control mode indicator { position = 1, velocity = 2, torque = 3 }. More...

std::unique_ptr< ros::NodeHandle >	rosNode
	Node used for ROS transport. More...

ros::Subscriber	jointStateSub
	ROS Joint State Subscriber. More...

ros::Publisher	jointForcePub
	ROS Joint Force (Torque) Publisher. More...

ros::CallbackQueue	rosProcessQueue
	ROS callbackque that helps process messages. More...

ros::CallbackQueue	rosPublishQueue
	ROS callbackque that helps publish messages. More...

std::thread	rosProcessQueueThread
	Thread running the rosProcessQueue. More...

std::thread	rosPublishQueueThread
	Thread running the rosPublishQueue. More...

Detailed Description

A plugin to control the pendulum robot.

Definition at line 63 of file pendulum_plugin.h.

Member Enumeration Documentation

◆ ControlMode

enum gazebo::PendulumPlugin::ControlMode

Control mode enumerator.

Enumerator
position
velocity
torque

Definition at line 66 of file pendulum_plugin.h.

Constructor & Destructor Documentation

◆ PendulumPlugin()

gazebo::PendulumPlugin::PendulumPlugin ( )

Constructor.

Definition at line 34 of file pendulum_plugin.cpp.

◆ ~PendulumPlugin()

gazebo::PendulumPlugin::~PendulumPlugin ( )

virtual

Destructor.

Definition at line 46 of file pendulum_plugin.cpp.

Member Function Documentation

◆ Load()

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

virtual

The Load function is called by Gazebo when the plugin is inserted into simulation.

Parameters

[in]	_model	A pointer to the model that the plugin is attached to.
[in]	_sdf	A pointer to the plugin's SDF element.

Definition at line 56 of file pendulum_plugin.cpp.

◆ GetJointForce()

double gazebo::PendulumPlugin::GetJointForce ( )

Get currently applied force at the joint.

Returns: Current joint force

Definition at line 81 of file pendulum_plugin.cpp.

◆ SetJointForce()

void gazebo::PendulumPlugin::SetJointForce ( const double & _force )

Apply force at a specific joint.

Parameters

[in] _force Force to apply

Definition at line 89 of file pendulum_plugin.cpp.

◆ SetJointVelocity()

void gazebo::PendulumPlugin::SetJointVelocity ( const double & _vel )

Set the velocity of the joint.

Parameters

[in] _vel New target velocity

Definition at line 106 of file pendulum_plugin.cpp.

◆ SetJointPosition()

void gazebo::PendulumPlugin::SetJointPosition ( const double & _pos )

Set the position of the joint.

Parameters

[in] _pos New target position in radians

Definition at line 123 of file pendulum_plugin.cpp.

◆ OnJointStateMsg()

void gazebo::PendulumPlugin::OnJointStateMsg ( const sensor_msgs::JointStateConstPtr & _msg )

The OnJointStateMsg function handles an incoming joint state message from ROS.

Parameters

[in]

_msg

A message holding data to describe the state of a set of controlled joints. The state is defined by

the position of the joint,
the velocity of the joint and
the effort (torque) that is applied in the joint.

Definition at line 139 of file pendulum_plugin.cpp.

◆ ProcessQueueThread()

void gazebo::PendulumPlugin::ProcessQueueThread ( )

The ProcessQueueThread function is a ROS helper function that processes messages.

Definition at line 158 of file pendulum_plugin.cpp.

◆ PublishQueueThread()

void gazebo::PendulumPlugin::PublishQueueThread ( )

The PublishQueueThread function is a ROS helper function that publish state messages.

Definition at line 168 of file pendulum_plugin.cpp.

◆ InitRos()

void gazebo::PendulumPlugin::InitRos ( )

protected

The initRos function is called to initialize ROS.

Definition at line 183 of file pendulum_plugin.cpp.

◆ InitRosQueueThreads()

void gazebo::PendulumPlugin::InitRosQueueThreads ( )

protected

The InitRosQueueThreads function is called to initialize the ROS Publish and Process Queue Threads.

Definition at line 224 of file pendulum_plugin.cpp.

◆ InitJointController()

void gazebo::PendulumPlugin::InitJointController ( )

protected

The InitJointControllers function is called to setup joint PID controllers.

Definition at line 236 of file pendulum_plugin.cpp.

◆ InitJointConfiguration()

void gazebo::PendulumPlugin::InitJointConfiguration ( )

protected

The InitJointConfiguration function is called to initialize the desired joint configuration.

Definition at line 250 of file pendulum_plugin.cpp.

Member Data Documentation

◆ model

physics::ModelPtr gazebo::PendulumPlugin::model

private

Pointer to the model.

Definition at line 130 of file pendulum_plugin.h.

◆ model_name

std::string gazebo::PendulumPlugin::model_name

private

Model name.

Definition at line 133 of file pendulum_plugin.h.

◆ joint

physics::JointPtr gazebo::PendulumPlugin::joint

private

Pointers to the joint.

Definition at line 136 of file pendulum_plugin.h.

◆ vel_p_gain

double gazebo::PendulumPlugin::vel_p_gain

private

Velocity P-gain.

Definition at line 139 of file pendulum_plugin.h.

◆ vel_i_gain

double gazebo::PendulumPlugin::vel_i_gain

private

Velocity I-gain.

Definition at line 142 of file pendulum_plugin.h.

◆ vel_d_gain

double gazebo::PendulumPlugin::vel_d_gain

private

Velocity D-gain.

Definition at line 145 of file pendulum_plugin.h.

◆ pos_p_gain

double gazebo::PendulumPlugin::pos_p_gain

private

Position P-gain.

Definition at line 148 of file pendulum_plugin.h.

◆ pos_i_gain

double gazebo::PendulumPlugin::pos_i_gain

private

Position I-gain.

Definition at line 151 of file pendulum_plugin.h.

◆ pos_d_gain

double gazebo::PendulumPlugin::pos_d_gain

private

Position D-gain.

Definition at line 154 of file pendulum_plugin.h.

◆ controlMode

ControlMode gazebo::PendulumPlugin::controlMode

private

Control mode indicator { position = 1, velocity = 2, torque = 3 }.

Definition at line 158 of file pendulum_plugin.h.

◆ rosNode

std::unique_ptr<ros::NodeHandle> gazebo::PendulumPlugin::rosNode

private

Node used for ROS transport.

Definition at line 161 of file pendulum_plugin.h.

◆ jointStateSub

ros::Subscriber gazebo::PendulumPlugin::jointStateSub

private

ROS Joint State Subscriber.

Definition at line 164 of file pendulum_plugin.h.

◆ jointForcePub

ros::Publisher gazebo::PendulumPlugin::jointForcePub

private

ROS Joint Force (Torque) Publisher.

Definition at line 167 of file pendulum_plugin.h.

◆ rosProcessQueue

ros::CallbackQueue gazebo::PendulumPlugin::rosProcessQueue

private

ROS callbackque that helps process messages.

Definition at line 170 of file pendulum_plugin.h.

◆ rosPublishQueue

ros::CallbackQueue gazebo::PendulumPlugin::rosPublishQueue

private

ROS callbackque that helps publish messages.

Definition at line 173 of file pendulum_plugin.h.

◆ rosProcessQueueThread

std::thread gazebo::PendulumPlugin::rosProcessQueueThread

private

Thread running the rosProcessQueue.

Definition at line 176 of file pendulum_plugin.h.

◆ rosPublishQueueThread

std::thread gazebo::PendulumPlugin::rosPublishQueueThread

private

Thread running the rosPublishQueue.

Definition at line 179 of file pendulum_plugin.h.

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

catkin_ws/src/simulator/pendulum_gazebo/include/pendulum_gazebo/pendulum_plugin.h
catkin_ws/src/simulator/pendulum_gazebo/src/pendulum_plugin.cpp

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ ControlMode

Constructor & Destructor Documentation

◆ PendulumPlugin()

◆ ~PendulumPlugin()

Member Function Documentation

◆ Load()

◆ GetJointForce()

◆ SetJointForce()

◆ SetJointVelocity()

◆ SetJointPosition()

◆ OnJointStateMsg()

◆ ProcessQueueThread()

◆ PublishQueueThread()

◆ InitRos()

◆ InitRosQueueThreads()

◆ InitJointController()

◆ InitJointConfiguration()

Member Data Documentation

◆ model

◆ model_name

◆ joint

◆ vel_p_gain

◆ vel_i_gain

◆ vel_d_gain

◆ pos_p_gain

◆ pos_i_gain

◆ pos_d_gain

◆ controlMode

◆ rosNode

◆ jointStateSub

◆ jointForcePub

◆ rosProcessQueue

◆ rosPublishQueue

◆ rosProcessQueueThread

◆ rosPublishQueueThread