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00022 #ifndef _GAZEBO_RAY_PLUGIN_HH_
00023 #define _GAZEBO_RAY_PLUGIN_HH_
00024
00025 #include "gazebo/common/Plugin.hh"
00026 #include "gazebo/sensors/SensorTypes.hh"
00027 #include "gazebo/sensors/RaySensor.hh"
00028 #include "gazebo/util/system.hh"
00029
00030 #include "Lidar.pb.h"
00031
00032 namespace gazebo
00033 {
00035 class GAZEBO_VISIBLE GazeboLidarPlugin : public SensorPlugin
00036 {
00038 public: GazeboLidarPlugin();
00039
00041 public: virtual ~GazeboLidarPlugin();
00042
00044 public: virtual void OnNewLaserScans();
00045
00048 public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
00049
00051 protected: physics::WorldPtr world;
00052
00054 private:
00055 sensors::RaySensorPtr parentSensor;
00056 transport::NodePtr node_handle_;
00057 transport::PublisherPtr lidar_pub_;
00058 std::string namespace_;
00059
00060
00062 private:
00063 event::ConnectionPtr newLaserScansConnection;
00064 lidar_msgs::msgs::lidar lidar_message;
00065 };
00066 }
00067 #endif
rotors_gazebo_plugins
Author(s): Fadri Furrer, Michael Burri, Mina Kamel, Janosch Nikolic, Markus Achtelik
autogenerated on Thu Apr 18 2019 02:43:43