gazebo_ros_sim_iface.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: A dynamic controller plugin that publishes ROS Odometry topic for generic simiface interface.  Puts body at the specified Pose (rate) etc.  Only pose implemented for now.
 * Author: John Hsu
 * Date: 24 Sept 2008
 * SVN: $Id$
 */
#ifndef GAZEBO_ROS_SIM_IFACE_HH
#define GAZEBO_ROS_SIM_IFACE_HH

// Custom Callback Queue
#include <ros/callback_queue.h>
#include <ros/subscribe_options.h>

#include <ros/ros.h>
#include "boost/thread/mutex.hpp"
#include <gazebo/Controller.hh>
#include <gazebo/Param.hh>
#include <nav_msgs/Odometry.h>

#include <gazebo/Body.hh>

#define ROS_SIM_IFACE_EXPOSE_SERVICE 1

#if ROS_SIM_IFACE_EXPOSE_SERVICE
#include <gazebo_plugins/SetPose.h>
#endif


namespace gazebo
{


class GazeboRosSimIface : public Controller
{
  public: GazeboRosSimIface(Entity *parent);

  public: virtual ~GazeboRosSimIface();

  protected: virtual void LoadChild(XMLConfigNode *node);

  protected: virtual void InitChild();

  protected: virtual void UpdateChild();

  protected: virtual void FiniChild();

  private: void UpdateObjectPose(const nav_msgs::Odometry::ConstPtr& poseMsg);

  private: bool ServiceCallback(gazebo_plugins::SetPose::Request &req,
                                gazebo_plugins::SetPose::Response &res);

  private: Entity *myParent;

  private: ros::NodeHandle* rosnode_;
  private: ros::Subscriber sub_;
  private: ros::ServiceServer srv_;

  private: boost::mutex lock;

  private: ParamT<std::string> *topicNameP,*modelNameP;
  private: ParamT<Vector3> *xyzP,*rpyP,*velP,*angVelP;
  private: std::string topicName,frameName,modelName;
  private: Vector3 xyz,rpy,vel,angVel;
  private: ParamT<std::string> *serviceNameP;
  private: std::string serviceName;

  private: ParamT<std::string> *robotNamespaceP;
  private: std::string robotNamespace;

  // Custom Callback Queue
  private: ros::CallbackQueue queue_;
  private: void QueueThread();
  private: boost::thread callback_queue_thread_;
  private: Body* myFrame;

};



}
#endif

---

gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Fri Jan 11 10:09:24 2013