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_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H 00030 #define HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H 00031 00032 #include <gazebo/common/Plugin.hh> 00033 #include <gazebo/common/Time.hh> 00034 #include <gazebo/math/Vector3.hh> 00035 00036 #include <ros/callback_queue.h> 00037 #include <ros/ros.h> 00038 00039 #include <hector_quadrotor_model/quadrotor_propulsion.h> 00040 #include <hector_gazebo_plugins/update_timer.h> 00041 00042 #include <boost/thread.hpp> 00043 00044 namespace gazebo 00045 { 00046 00047 class GazeboQuadrotorPropulsion : public ModelPlugin 00048 { 00049 public: 00050 GazeboQuadrotorPropulsion(); 00051 virtual ~GazeboQuadrotorPropulsion(); 00052 00053 protected: 00054 virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); 00055 virtual void Reset(); 00056 virtual void Update(); 00057 00058 private: 00060 physics::WorldPtr world; 00061 00063 physics::LinkPtr link; 00064 00065 hector_quadrotor_model::QuadrotorPropulsion model_; 00066 00067 ros::NodeHandle* node_handle_; 00068 ros::CallbackQueue callback_queue_; 00069 boost::thread callback_queue_thread_; 00070 void QueueThread(); 00071 00072 ros::Publisher trigger_publisher_; 00073 ros::Subscriber command_subscriber_; 00074 ros::Subscriber pwm_subscriber_; 00075 ros::Publisher wrench_publisher_; 00076 ros::Publisher supply_publisher_; 00077 ros::Publisher motor_status_publisher_; 00078 00079 std::string body_name_; 00080 std::string namespace_; 00081 std::string param_namespace_; 00082 std::string trigger_topic_; 00083 std::string command_topic_; 00084 std::string pwm_topic_; 00085 std::string wrench_topic_; 00086 std::string supply_topic_; 00087 std::string status_topic_; 00088 std::string frame_id_; 00089 ros::Duration control_delay_; 00090 ros::Duration control_tolerance_; 00091 00092 common::Time last_time_; 00093 common::Time last_trigger_time_; 00094 common::Time last_motor_status_time_; 00095 common::Time last_supply_time_; 00096 00097 // Pointer to the update event connection 00098 event::ConnectionPtr updateConnection; 00099 00100 UpdateTimer controlTimer; 00101 UpdateTimer motorStatusTimer; 00102 }; 00103 00104 } 00105 00106 #endif // HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H