gazebo_ros_baro.h
Go to the documentation of this file.
00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H
00030 #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H
00031 
00032 #include <gazebo/common/Plugin.hh>
00033 
00034 #include <ros/ros.h>
00035 #ifdef USE_MAV_MSGS
00036   #include <mav_msgs/Height.h>
00037 #else
00038   #include <geometry_msgs/PointStamped.h>
00039 #endif
00040 #include <hector_uav_msgs/Altimeter.h>
00041 
00042 #include <hector_gazebo_plugins/sensor_model.h>
00043 #include <hector_gazebo_plugins/update_timer.h>
00044 
00045 namespace gazebo
00046 {
00047 
00048 class GazeboRosBaro : public ModelPlugin
00049 {
00050 public:
00051   GazeboRosBaro();
00052   virtual ~GazeboRosBaro();
00053 
00054 protected:
00055   virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
00056   virtual void Reset();
00057   virtual void Update();
00058 
00059 private:
00061   physics::WorldPtr world;
00062 
00064   physics::LinkPtr link;
00065 
00066   ros::NodeHandle* node_handle_;
00067   ros::Publisher height_publisher_;
00068   ros::Publisher altimeter_publisher_;
00069 
00070 #ifdef USE_MAV_MSGS
00071   mav_msgs::Height height_;
00072 #else
00073   geometry_msgs::PointStamped height_;
00074 #endif
00075   hector_uav_msgs::Altimeter altimeter_;
00076 
00077   std::string namespace_;
00078   std::string height_topic_;
00079   std::string altimeter_topic_;
00080   std::string link_name_;
00081   std::string frame_id_;
00082 
00083   double elevation_;
00084   double qnh_;
00085 
00086   SensorModel sensor_model_;
00087 
00088   UpdateTimer updateTimer;
00089   event::ConnectionPtr updateConnection;
00090 };
00091 
00092 } // namespace gazebo
00093 
00094 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends


hector_quadrotor_gazebo_plugins
Author(s): Johannes Meyer
autogenerated on Mon Jul 15 2013 16:48:25