gazebo_ros_control_plugin.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2013, Open Source Robotics Foundation
00005  *  Copyright (c) 2013, The Johns Hopkins University
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the Open Source Robotics Foundation
00019  *     nor the names of its contributors may be
00020  *     used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034  *  POSSIBILITY OF SUCH DAMAGE.
00035  *********************************************************************/
00036 
00037 /* Author: Dave Coleman, Jonathan Bohren
00038    Desc:   Gazebo plugin for ros_control that allows 'hardware_interfaces' to be plugged in
00039            using pluginlib
00040 */
00041 
00042 // Boost
00043 #include <boost/shared_ptr.hpp>
00044 #include <boost/thread.hpp>
00045 
00046 // ROS
00047 #include <ros/ros.h>
00048 #include <pluginlib/class_loader.h>
00049 #include <std_msgs/Bool.h>
00050 
00051 // Gazebo
00052 #include <gazebo/gazebo.hh>
00053 #include <gazebo/physics/physics.hh>
00054 #include <gazebo/common/common.hh>
00055 
00056 // ros_control
00057 #include <gazebo_ros_control/robot_hw_sim.h>
00058 #include <controller_manager/controller_manager.h>
00059 #include <transmission_interface/transmission_parser.h>
00060 
00061 namespace gazebo_ros_control
00062 {
00063 
00064 class GazeboRosControlPlugin : public gazebo::ModelPlugin
00065 {
00066 public:
00067 
00068   virtual ~GazeboRosControlPlugin();
00069 
00070   // Overloaded Gazebo entry point
00071   virtual void Load(gazebo::physics::ModelPtr parent, sdf::ElementPtr sdf);
00072 
00073   // Called by the world update start event
00074   void Update();
00075 
00076   // Called on world reset
00077   virtual void Reset();
00078 
00079   // Get the URDF XML from the parameter server
00080   std::string getURDF(std::string param_name) const;
00081 
00082   // Get Transmissions from the URDF
00083   bool parseTransmissionsFromURDF(const std::string& urdf_string);
00084 
00085 protected:
00086   void eStopCB(const std_msgs::BoolConstPtr& e_stop_active);
00087 
00088   // Node Handles
00089   ros::NodeHandle model_nh_; // namespaces to robot name
00090 
00091   // Pointer to the model
00092   gazebo::physics::ModelPtr parent_model_;
00093   sdf::ElementPtr sdf_;
00094 
00095   // deferred load in case ros is blocking
00096   boost::thread deferred_load_thread_;
00097 
00098   // Pointer to the update event connection
00099   gazebo::event::ConnectionPtr update_connection_;
00100 
00101   // Interface loader
00102   boost::shared_ptr<pluginlib::ClassLoader<gazebo_ros_control::RobotHWSim> > robot_hw_sim_loader_;
00103   void load_robot_hw_sim_srv();
00104 
00105   // Strings
00106   std::string robot_namespace_;
00107   std::string robot_description_;
00108 
00109   // Transmissions in this plugin's scope
00110   std::vector<transmission_interface::TransmissionInfo> transmissions_;
00111 
00112   // Robot simulator interface
00113   std::string robot_hw_sim_type_str_;
00114   boost::shared_ptr<gazebo_ros_control::RobotHWSim> robot_hw_sim_;
00115 
00116   // Controller manager
00117   boost::shared_ptr<controller_manager::ControllerManager> controller_manager_;
00118 
00119   // Timing
00120   ros::Duration control_period_;
00121   ros::Time last_update_sim_time_ros_;
00122   ros::Time last_write_sim_time_ros_;
00123 
00124   // e_stop_active_ is true if the emergency stop is active.
00125   bool e_stop_active_, last_e_stop_active_;
00126   ros::Subscriber e_stop_sub_;  // Emergency stop subscriber
00127 
00128 };
00129 
00130 
00131 }


gazebo_ros_control
Author(s): Jonathan Bohren, Dave Coleman
autogenerated on Thu Jun 6 2019 18:41:22