Send velocity commands to a model based on keypress messages received. More...

#include <KeysToCmdVelPlugin.hh>

Public Types
typedef boost::shared_ptr< ModelPlugin >	TPtr
	plugin pointer type definition More...

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

	~KeysToCmdVelPlugin ()
	Destructor. More...

std::string	GetFilename () const
	Get the name of the handler. More...

std::string	GetHandle () const
	Get the short name of the handler. More...

PluginType	GetType () const
	Returns the type of the plugin. More...

void	Init () override
	Override this method for custom plugin initialization behavior. More...

void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf) override
	Load function. More...

void	Reset () override
	Override this method for custom plugin reset behavior. More...

Static Public Member Functions
static TPtr	Create (const std::string &_filename, const std::string &_name)
	a class method that creates a plugin from a file name. More...

Protected Member Functions
void	LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

void	LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

virtual void	OnKeyPress (ConstAnyPtr &_msg)
	Callback each time a key message is received. More...

Protected Attributes
std::string	filename
	Path to the shared library file. More...

std::string	handleName
	Short name. More...

PluginType	type
	Type of plugin. More...

Detailed Description

Send velocity commands to a model based on keypress messages received.

The commands are instances of Pose type with x field denoting linear speed and yaw denoting angular speed.

The keypresses are taken from topic "~/keyboard/keypress" generated by the KeyboardGUIPlugin.

Unfortunately, due to the implementation of the KeyboardGUIPlugin, this plugin can only process the "key down" events and not "key up" events, so it is not possible to react on the set of keys currently pressed, but only to a sequence of keypresses.

The plugin processes the following parameters:

<publish_as_twist> If true, the published message type will be Twist. If false, it will be Pose. Default is false. The Pose message isn't very good for angular speed representation since it will always clamp the speed to interval -pi to pi. <cmd_vel_topic> The topic to which velocity commands are be published. Default is "~/cmd_vel". <max_linear_vel> Maximum linear velocity commanded to the vehicle (m/s). Default is 1.0 (m/s). <min_linear_vel> Minimum linear velocity commanded to the vehicle (m/s). Default is -max_linear_vel (m/s). <max_angular_vel> Maximum angular velocity commanded to the vehicle (rad/s). Default is 1.0 (rad/s). <key_controls> If this tag is empty or missing, the default assignment (arrow keys) is used; otherwise, the keys can be set using the (repeatable) subelements <stop>, <accelerate>, <decelerate>, <left> and <right> containing the keycodes.

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

◆ KeysToCmdVelPlugin()

KeysToCmdVelPlugin ( )

Constructor.

◆ ~KeysToCmdVelPlugin()

~KeysToCmdVelPlugin ( )

Destructor.

Member Function Documentation

◆ Create()

static TPtr Create	(	const std::string &	_filename,
		const std::string &	_name
	)

inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

[in]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns: Shared Pointer to this class type

References PluginT< T >::filename, gzerr, and SingletonT< SystemPaths >::Instance().

◆ GetFilename()

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

References PluginT< T >::filename.

◆ GetHandle()

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

References PluginT< T >::handleName.

◆ GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns: type of the plugin

References PluginT< T >::type.

◆ Init()

void Init ( )

overridevirtual

Override this method for custom plugin initialization behavior.

Reimplemented from ModelPlugin.

◆ Load()

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

overridevirtual

Load function.

Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.

Parameters

[in]	_model	Pointer to the Model
[in]	_sdf	Pointer to the SDF element of the plugin.

Implements ModelPlugin.

◆ LoadParam() [1/2]

void LoadParam	(	const sdf::ElementPtr &	_sdf,
		const std::string &	_name,
		V &	_target,
		V	_defaultValue = `V()`
	)		const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

References gzmsg, and PluginT< T >::handleName.

◆ LoadParam() [2/2]

void LoadParam	(	sdf::ElementPtr &	_sdf,
		const std::string &	_name,
		std::string &	_target,
		const char *	_defaultValue
	)		const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

◆ OnKeyPress()

virtual void OnKeyPress ( ConstAnyPtr & _msg )

protectedvirtual

Callback each time a key message is received.

Parameters

[in] _msg Keypress message.

◆ Reset()

void Reset ( )

overridevirtual

Override this method for custom plugin reset behavior.

Reimplemented from ModelPlugin.

Member Data Documentation

◆ filename

std::string filename

protectedinherited

Path to the shared library file.

◆ handleName

std::string handleName

protectedinherited

Short name.

◆ type

PluginType type

protectedinherited

Type of plugin.

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

KeysToCmdVelPlugin.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TPtr

Constructor & Destructor Documentation

◆ KeysToCmdVelPlugin()

◆ ~KeysToCmdVelPlugin()

Member Function Documentation

◆ Create()

◆ GetFilename()

◆ GetHandle()

◆ GetType()

◆ Init()

◆ Load()

◆ LoadParam() [1/2]

◆ LoadParam() [2/2]

◆ OnKeyPress()

◆ Reset()

Member Data Documentation

◆ filename

◆ handleName

◆ type