range_gazebo_plugin: range_gazebo_plugin: gazebo_ros

00001 /*
00002  * Software License Agreement (Modified BSD License)
00003  *
00004  *  Copyright (c) 2012, PAL Robotics, S.L.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of PAL Robotics, S.L. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  */
00034 
00035 #include <gazebo/Controller.hh>
00036 #include <gazebo/Entity.hh>
00037 #include <gazebo/Model.hh>
00038 #include <gazebo/RaySensor.hh>
00039 #include <gazebo/Param.hh>
00040 
00041 #include <ros/callback_queue.h>
00042 #include <ros/ros.h>
00043 
00044 #include <sensor_msgs/Range.h>
00045 
00046 namespace gazebo
00047 {
00048 
00049 class GazeboRosSonar : public Controller
00050 {
00051 public:
00052   GazeboRosSonar(Entity *parent);
00053   virtual ~GazeboRosSonar();
00054 
00055 protected:
00056   virtual void LoadChild(XMLConfigNode *node);
00057   virtual void InitChild();
00058   virtual void UpdateChild();
00059   virtual void FiniChild();
00060 
00062 private:
00063   double GaussianKernel(double mu,double sigma);
00064 
00065 private:
00066   RaySensor *sensor_;
00067 
00068   ros::NodeHandle* node_handle_;
00069   ros::Publisher publisher_;
00070 
00071   sensor_msgs::Range Range;
00072 
00073   ParamT<std::string> *namespace_param_;
00074   ParamT<std::string> *topic_param_;
00075   ParamT<std::string> *frame_id_param_;
00076   ParamT<std::string> *radiation_param_;
00077   ParamT<double> *fov_param_;
00078   ParamT<double> *gaussian_noise_;
00079 
00080   //SensorModel sensor_model_;
00081 };
00082 
00083 } // namespace gazebo
gazebo_ros_sonar.h
