gazebo_ros_gps.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_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H
00030 #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H
00031 
00032 #include <gazebo/common/Plugin.hh>
00033 
00034 #include <ros/ros.h>
00035 #include <sensor_msgs/NavSatFix.h>
00036 #include <geometry_msgs/Vector3Stamped.h>
00037 #include <husky_plugin/sensor_model.h>
00038 #include <husky_plugin/update_timer.h>
00039 
00040 namespace gazebo
00041 {
00042 
00043 class GazeboRosGps : public ModelPlugin
00044 {
00045 public:
00046   GazeboRosGps();
00047   virtual ~GazeboRosGps();
00048 
00049 protected:
00050   virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
00051   virtual void Reset();
00052   virtual void Update();
00053 
00054 private:
00056   physics::WorldPtr world;
00057 
00059   physics::LinkPtr link;
00060 
00061   ros::NodeHandle* node_handle_;
00062   ros::Publisher fix_publisher_;
00063   ros::Publisher velocity_publisher_;
00064 
00065   sensor_msgs::NavSatFix fix_;
00066   geometry_msgs::Vector3Stamped velocity_;
00067 
00068   std::string namespace_;
00069   std::string link_name_;
00070   std::string frame_id_;
00071   std::string fix_topic_;
00072   std::string velocity_topic_;
00073 
00074   double reference_latitude_;
00075   double reference_longitude_;
00076   double reference_heading_;
00077   double reference_altitude_;
00078   sensor_msgs::NavSatStatus::_status_type status_;
00079   sensor_msgs::NavSatStatus::_service_type service_;
00080 
00081   double radius_north_;
00082   double radius_east_;
00083 
00084   SensorModel3 position_error_model_;
00085   SensorModel3 velocity_error_model_;
00086 
00087   UpdateTimer updateTimer;
00088   event::ConnectionPtr updateConnection;
00089 };
00090 
00091 } // namespace gazebo
00092 
00093 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H


husky_gazebo_plugins
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autogenerated on Wed Aug 26 2015 11:54:19