00001 /* 00002 * Copyright 2015 Open Source Robotics Foundation 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 * 00016 */ 00017 00018 #ifndef _GAZEBO_ROS_PLUGINS_ELEVATOR_PLUGIN_H_ 00019 #define _GAZEBO_ROS_PLUGINS_ELEVATOR_PLUGIN_H_ 00020 00021 #include <sdf/sdf.hh> 00022 00023 // Gazebo 00024 #include <gazebo/plugins/ElevatorPlugin.hh> 00025 00026 // ROS 00027 #include <ros/ros.h> 00028 #include <std_msgs/String.h> 00029 #include <ros/callback_queue.h> 00030 #include <ros/advertise_options.h> 00031 00032 namespace gazebo 00033 { 00035 class GazeboRosElevator : public ElevatorPlugin 00036 { 00038 public: GazeboRosElevator(); 00039 00041 public: virtual ~GazeboRosElevator(); 00042 00046 public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf); 00047 00050 public: void OnElevator(const std_msgs::String::ConstPtr &_msg); 00051 00053 private: void QueueThread(); 00054 00056 private: std::string robotNamespace_; 00057 00059 private: ros::NodeHandle *rosnode_; 00060 00062 private: ros::Subscriber elevatorSub_; 00063 00065 private: ros::CallbackQueue queue_; 00066 00067 // \brief Custom Callback Queue thread 00068 private: boost::thread callbackQueueThread_; 00069 }; 00070 } 00071 #endif