gazebo_quadrotor_propulsion.h
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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


hector_quadrotor_gazebo_plugins
Author(s): Johannes Meyer
autogenerated on Thu Aug 27 2015 13:17:34