gazebo_ros_factory.h
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* 00022 * Desc: Actuator array controller for a Pr2 robot. 00023 * Author: Nathan Koenig 00024 * Date: 19 Sept 2007 00025 * SVN: $Id$ 00026 */ 00027 #ifndef GAZEBO_ROS_FACTORY_HH 00028 #define GAZEBO_ROS_FACTORY_HH 00029 00030 #include <gazebo/Param.hh> 00031 #include <gazebo/Controller.hh> 00032 #include <gazebo/Body.hh> 00033 #include <gazebo/World.hh> 00034 #include <gazebo/Model.hh> 00035 00036 #include <ros/ros.h> 00037 #include <ros/callback_queue.h> 00038 00039 #include "gazebo_plugins/GazeboModel.h" 00040 #include "gazebo_plugins/SpawnModel.h" 00041 #include "gazebo_plugins/DeleteModel.h" 00042 00043 namespace gazebo 00044 { 00047 00101 class GazeboRosFactory : public Controller 00102 { 00105 public: GazeboRosFactory(Entity *parent); 00106 00108 public: virtual ~GazeboRosFactory(); 00109 00112 protected: virtual void LoadChild(XMLConfigNode *node); 00113 00115 protected: virtual void InitChild(); 00116 00118 protected: virtual void UpdateChild(); 00119 00121 protected: virtual void FiniChild(); 00122 00124 private: gazebo::Model* myParent; 00125 00127 private: ParamT<std::string> *spawnModelServiceNameP; 00128 private: std::string spawnModelServiceName; 00129 private: ParamT<std::string> *deleteModelServiceNameP; 00130 private: std::string deleteModelServiceName; 00131 00133 private: ParamT<std::string> *robotNamespaceP; 00134 private: std::string robotNamespace; 00135 00137 private: ros::NodeHandle* rosnode_; 00139 private: ros::ServiceServer spawnModelService; 00140 private: ros::ServiceServer deleteModelService; 00141 00143 private: bool IsURDF(std::string robot_model); 00144 00146 private: bool IsGazeboModelXML(std::string robot_model); 00147 00149 private: bool pushToFactory(std::string gazebo_model_xml); 00150 00152 private: bool pushToDeleteQueue(std::string model_name); 00153 00155 private: bool spawnModel(gazebo_plugins::SpawnModel::Request &req, 00156 gazebo_plugins::SpawnModel::Response &res); 00157 00159 private: bool deleteModel(gazebo_plugins::DeleteModel::Request &req, 00160 gazebo_plugins::DeleteModel::Response &res); 00161 00163 private: ros::CallbackQueue factory_queue_; 00164 private: void FactoryQueueThread(); 00165 private: boost::thread callback_queue_thread_; 00166 }; 00167 00169 00170 00171 } 00172 #endif 00173