gazebo_ros_f3d.h
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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: 3D Applied Force Feedback Interface
00023  * Author: John Hsu
00024  * Date: 24 Sept 2008
00025  * SVN: $Id$
00026  */
00027 #ifndef GAZEBO_ROS_F3D_HH
00028 #define GAZEBO_ROS_F3D_HH
00029 
00030 // Custom Callback Queue
00031 #include <ros/callback_queue.h>
00032 #include <ros/advertise_options.h>
00033 
00034 #include "physics/physics.hh"
00035 #include "transport/TransportTypes.hh"
00036 #include "common/Plugin.hh"
00037 #include "common/Events.hh"
00038 
00039 #include <ros/ros.h>
00040 #include <boost/thread.hpp>
00041 #include <boost/thread/mutex.hpp>
00042 #include <geometry_msgs/WrenchStamped.h>
00043 
00044 namespace gazebo
00045 {
00046 
00049 class GazeboRosF3D : public ModelPlugin
00050 {
00053   public: GazeboRosF3D();
00054 
00056   public: virtual ~GazeboRosF3D();
00057 
00059   public: void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf );
00060 
00062   protected: virtual void UpdateChild();
00063   
00064   private: physics::WorldPtr world_;
00065 
00067   private: physics::LinkPtr link_;
00068 
00069 
00071   private: ros::NodeHandle* rosnode_;
00072   private: ros::Publisher pub_;
00073 
00075   private: geometry_msgs::WrenchStamped wrench_msg_;
00076 
00078   private: std::string link_name_;
00079 
00081   private: std::string topic_name_;
00082 
00085   private: std::string frame_name_;
00086 
00088   private: std::string robot_namespace_;
00089 
00091   private: boost::mutex lock_;
00092 
00094   private: int f3d_connect_count_;
00095   private: void F3DConnect();
00096   private: void F3DDisconnect();
00097 
00098   // Custom Callback Queue
00099   private: ros::CallbackQueue queue_;
00100   private: void QueueThread();
00101   private: boost::thread callback_queue_thread_;
00102 
00103   // Pointer to the update event connection
00104   private: event::ConnectionPtr update_connection_;
00105 
00106 };
00107 
00109 
00110 
00111 
00112 }
00113 
00114 #endif
00115 


gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Mon Oct 6 2014 12:15:44