An abstract gazebo model plugin for tracked vehicles. More...

#include <TrackedVehiclePlugin.hh>

Inherited by SimpleTrackedVehiclePlugin, and WheelTrackedVehiclePlugin.

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

Public Member Functions
	TrackedVehiclePlugin ()
	Default Contstuctor. More...

virtual	~TrackedVehiclePlugin ()
	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
	Initialize the plugin. More...

void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf) override
	Called when the plugin is loaded. More...

void	Reset () override
	Reset the plugin. 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
virtual std::string	GetRobotNamespace ()
	Namespace used as a prefix for gazebo topic names. More...

virtual double	GetSteeringEfficiency ()
	Steering efficiency coefficient (between 0.0 and 1.0). More...

virtual boost::optional< double >	GetTrackMu ()
	Friction coefficient in the first friction direction. More...

virtual boost::optional< double >	GetTrackMu2 ()
	Friction coefficient in the second friction direction. More...

virtual double	GetTracksSeparation ()
	Distance between the centers of the tracks. More...

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	OnVelMsg (ConstPosePtr &_msg) GAZEBO_DEPRECATED(9.0)
	Callback for setting desired body velocity. More...

void	OnVelMsg (ConstTwistPtr &_msg)
	Callback for setting desired body velocity. More...

void	SetBodyVelocity (double _linear, double _angular)
	Set new target velocity for the tracks based on the desired. More...

void	SetLinkMu (const physics::LinkPtr &_link)
	Set mu and mu2 of all collisions of the given link to values given by GetTrackMu() and GetTrackMu2(). More...

virtual void	SetSteeringEfficiency (double _steeringEfficiency)
	Set steering efficiency coefficient (between 0.0 and 1.0). More...

virtual void	SetTrackMu (double _mu)
	Friction coefficient in the first friction direction. More...

virtual void	SetTrackMu2 (double _mu2)
	Friction coefficient in the second friction direction. More...

virtual void	SetTrackVelocity (double _left, double _right)
	Set new target velocity for the tracks. More...

virtual void	SetTrackVelocityImpl (double _left, double _right)=0
	Set new target velocity for the tracks. More...

virtual void	UpdateTrackSurface ()=0
	Update surface parameters of the tracks to correspond to the values set in this plugin. More...

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

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

std::mutex	mutex
	Mutex to protect updates. More...

std::unordered_map< Tracks, std::string >	trackNames
	Textual lowercase names of the tracks. More...

PluginType	type
	Type of plugin. More...

Detailed Description

An abstract gazebo model plugin for tracked vehicles.

Since: 8.1

The plugin processes the following parameters (all have defaults): <steering_efficiency> Steering efficiency coefficient (0.0 to 1.0). Default is 0.5. <tracks_separation> Distance between the centers of the tracks. Default is 0.4. Implementation may try to autodetect this value. <max_linear_speed> Max linear velocity in m/s. Also max track velocity. Default is 1.0. <max_angular_speed> Max angular speed in rad/s. Default is 1.0. <track_mu> Friction coefficient in the first friction direction. If not set, mu of the tracks is not changed, so the values from model definition are used. <track_mu2> Friction coefficient in the second friction direction. If not set, mu of the tracks is not changed, so the values from model definition are used. <robot_namespace> Namespace used as a prefix for gazebo topic names. Default is the name of the model.

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

◆ TrackedVehiclePlugin()

TrackedVehiclePlugin ( )

Default Contstuctor.

◆ ~TrackedVehiclePlugin()

virtual ~TrackedVehiclePlugin ( )

virtual

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.

◆ GetRobotNamespace()

virtual std::string GetRobotNamespace ( )

protectedvirtual

Namespace used as a prefix for gazebo topic names.

◆ GetSteeringEfficiency()

virtual double GetSteeringEfficiency ( )

protectedvirtual

Steering efficiency coefficient (between 0.0 and 1.0).

◆ GetTrackMu()

virtual boost::optional<double> GetTrackMu ( )

protectedvirtual

Friction coefficient in the first friction direction.

◆ GetTrackMu2()

virtual boost::optional<double> GetTrackMu2 ( )

protectedvirtual

Friction coefficient in the second friction direction.

◆ GetTracksSeparation()

virtual double GetTracksSeparation ( )

protectedvirtual

Distance between the centers of the tracks.

◆ GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns: type of the plugin

References PluginT< T >::type.

◆ Init()

void Init ( )

overridevirtual

Initialize the plugin.

Reimplemented from ModelPlugin.

Reimplemented in WheelTrackedVehiclePlugin.

◆ Load()

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

overridevirtual

Called when the plugin is loaded.

Parameters

[in]	_model	Pointer to the model for which the plugin is loaded
[in]	_sdf	Pointer to the SDF for _model

Implements ModelPlugin.

Reimplemented in WheelTrackedVehiclePlugin.

◆ 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.

◆ OnVelMsg() [1/2]

virtual void OnVelMsg ( ConstPosePtr & _msg )

protectedvirtual

Callback for setting desired body velocity.

Normally, this callback converts the x/yaw message to track velocities and calls SetTrackVelocity().

Parameters

[in] _msg Pose message from external publisher

◆ OnVelMsg() [2/2]

void OnVelMsg ( ConstTwistPtr & _msg )

protected

Callback for setting desired body velocity.

Normally, this callback converts the x/yaw message to track velocities and calls SetTrackVelocity().

Parameters

[in] _msg Twist message from external publisher

◆ Reset()

void Reset ( )

overridevirtual

Reset the plugin.

Reimplemented from ModelPlugin.

Reimplemented in WheelTrackedVehiclePlugin.

◆ SetBodyVelocity()

void SetBodyVelocity	(	double	_linear,
		double	_angular
	)

protected

Set new target velocity for the tracks based on the desired.

Parameters

[in]	_linear	Desired linear velocity of the vehicle.
[in]	_angular	Desired angular velocity of the vehicle.

◆ SetLinkMu()

void SetLinkMu ( const physics::LinkPtr & _link )

protected

Set mu and mu2 of all collisions of the given link to values given by GetTrackMu() and GetTrackMu2().

Parameters

[in] _link The link whose "mu"s are to be set.

◆ SetSteeringEfficiency()

virtual void SetSteeringEfficiency ( double _steeringEfficiency )

protectedvirtual

Set steering efficiency coefficient (between 0.0 and 1.0).

Parameters

[in] _steeringEfficiency The new steering efficiency.

◆ SetTrackMu()

virtual void SetTrackMu ( double _mu )

protectedvirtual

Friction coefficient in the first friction direction.

Parameters

[in] _mu The new coefficient.

◆ SetTrackMu2()

virtual void SetTrackMu2 ( double _mu2 )

protectedvirtual

Friction coefficient in the second friction direction.

Parameters

[in] _mu2 The new coefficient.

◆ SetTrackVelocity()

virtual void SetTrackVelocity	(	double	_left,
		double	_right
	)

protectedvirtual

Set new target velocity for the tracks.

Descendant classes need to implement this function.

Parameters

[in]	_left	Velocity of left track.
[in]	_right	Velocity of right track.

◆ SetTrackVelocityImpl()

virtual void SetTrackVelocityImpl	(	double	_left,
		double	_right
	)

protectedpure virtual

Set new target velocity for the tracks.

Descendant classes need to implement this function.

Do not call this function directly, instead call SetTrackVelocity().

Parameters

[in]	_left	Velocity of left track.
[in]	_right	Velocity of right track.

Implemented in SimpleTrackedVehiclePlugin, and WheelTrackedVehiclePlugin.

◆ UpdateTrackSurface()

virtual void UpdateTrackSurface ( )

protectedpure virtual

Update surface parameters of the tracks to correspond to the values set in this plugin.

Implemented in SimpleTrackedVehiclePlugin, and WheelTrackedVehiclePlugin.

Member Data Documentation

◆ filename

std::string filename

protectedinherited

Path to the shared library file.

◆ handleName

std::string handleName

protectedinherited

Short name.

◆ mutex

std::mutex mutex

protected

Mutex to protect updates.

◆ trackNames

std::unordered_map<Tracks, std::string> trackNames

protected

Textual lowercase names of the tracks.

◆ type

PluginType type

protectedinherited

Type of plugin.

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

TrackedVehiclePlugin.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TPtr

Constructor & Destructor Documentation

◆ TrackedVehiclePlugin()

◆ ~TrackedVehiclePlugin()

Member Function Documentation

◆ Create()

◆ GetFilename()

◆ GetHandle()

◆ GetRobotNamespace()

◆ GetSteeringEfficiency()

◆ GetTrackMu()

◆ GetTrackMu2()

◆ GetTracksSeparation()

◆ GetType()

◆ Init()

◆ Load()

◆ LoadParam() [1/2]

◆ LoadParam() [2/2]

◆ OnVelMsg() [1/2]

◆ OnVelMsg() [2/2]

◆ Reset()

◆ SetBodyVelocity()

◆ SetLinkMu()

◆ SetSteeringEfficiency()

◆ SetTrackMu()

◆ SetTrackMu2()

◆ SetTrackVelocity()

◆ SetTrackVelocityImpl()

◆ UpdateTrackSurface()

Member Data Documentation

◆ filename

◆ handleName

◆ mutex

◆ trackNames

◆ type