travesim::ros_side::VisionReceiver Class Reference

Class to receive Gazebo published messages. More...

#include "vision_receiver.hpp"

Collaboration diagram for travesim::ros_side::VisionReceiver:

Public Member Functions
	VisionReceiver ()
	Construct a new Vision Receiver object. More...
bool	receive (gazebo_msgs::ModelStates::ConstPtr *msg)
	Get last received message. More...

Private Member Functions
void	receive_callback (const gazebo_msgs::ModelStates::ConstPtr &msg)
	Callback function for Gazebo subscriber. More...

Private Attributes
gazebo_msgs::ModelStates::ConstPtr	world_state
	Cache to save the world state. More...
ros::Subscriber	subscriber
	Subscriber for Gazebo model_states topic. More...
bool	received_message
	Flag to indicate if a message was recieved. More...

Detailed Description

Class to receive Gazebo published messages.

Definition at line 25 of file vision_receiver.hpp.

Constructor & Destructor Documentation

VisionReceiver()

travesim::ros_side::VisionReceiver::VisionReceiver

(

)

Construct a new Vision Receiver object.

Note

Must be called after ros::init()!

Definition at line 18 of file vision_receiver.cpp.

                               {
    this->received_message = false;

    ros::NodeHandle _nh;
    this->subscriber = _nh.subscribe("/gazebo/model_states", 2, &VisionReceiver::receive_callback, this);
}

References receive_callback(), received_message, and subscriber.

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Member Function Documentation

receive()

bool travesim::ros_side::VisionReceiver::receive

(

gazebo_msgs::ModelStates::ConstPtr *

msg

)

Get last received message.

Parameters

msg	Pointer where to store the message

Returns

true if a new message was received, false otherwise

Definition at line 25 of file vision_receiver.cpp.

                                                                {
    if (this->received_message) {
        *msg = this->world_state;
        this->received_message = false;

        return true;
    }

    return false;
}

References received_message, and world_state.

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receive_callback()

void travesim::ros_side::VisionReceiver::receive_callback ( const gazebo_msgs::ModelStates::ConstPtr &  msg )

private

Callback function for Gazebo subscriber.

Parameters

msg	Received message

Definition at line 36 of file vision_receiver.cpp.

                                                                               {
    this->received_message = true;
    this->world_state = msg;
}

References received_message, and world_state.

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Member Data Documentation

received_message

bool travesim::ros_side::VisionReceiver::received_message

private

Flag to indicate if a message was recieved.

Definition at line 40 of file vision_receiver.hpp.

subscriber

ros::Subscriber travesim::ros_side::VisionReceiver::subscriber

private

Subscriber for Gazebo model_states topic.

Definition at line 35 of file vision_receiver.hpp.

world_state

gazebo_msgs::ModelStates::ConstPtr travesim::ros_side::VisionReceiver::world_state

private

Cache to save the world state.

Definition at line 30 of file vision_receiver.hpp.

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

• include/travesim_adapters/ros/vision_receiver.hpp
• src/lib/ros/vision_receiver.cpp