gazebo_ros_step_world_state.h

Go to the documentation of this file.

/*
 *  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: Actuator array controller for a Pr2 robot.
 * Author: Nathan Koenig
 * Date: 19 Sept 2007
 * SVN: $Id$
 */
#ifndef GAZEBO_ROS_STEP_WORLD_STATE_HH
#define GAZEBO_ROS_STEP_WORLD_STATE_HH

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

#include <gazebo/Controller.hh>
#include <gazebo/Body.hh>
#include <gazebo/Model.hh>
#include <gazebo/World.hh>
#include <gazebo/Simulator.hh>
#include <gazebo_plugins/WorldState.h>

#include <ros/ros.h>
#include <boost/thread.hpp>

#include <map>
#include <vector>
#include <string>

namespace gazebo
{

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

  public: virtual ~GazeboRosStepWorldState();

  protected: virtual void LoadChild(XMLConfigNode *node);

  protected: virtual void InitChild();

  protected: virtual void UpdateChild();

  protected: virtual void FiniChild();

  private: gazebo_plugins::WorldState worldStateMsg;

  private: const std::map<std::string,gazebo::Body*> *bodies;

  private: gazebo::Model* parent_model_;

  private: std::vector<gazebo::Model*> models;

  private: std::map<std::string,gazebo::Body*> all_bodies;

  private: ros::NodeHandle* rosnode_;
  private: ros::Subscriber sub_;
  private: void WorldStateCallback(const gazebo_plugins::WorldStateConstPtr& worldStateMsg);

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

  private: ParamT<std::string> *topicNameP;
  private: std::string topicName;

  private: ParamT<std::string> *frameNameP;
  private: std::string frameName;

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

};



}
#endif

---

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