sr_gazebo_sim: gazebo_hardware

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00001 
00025 #ifndef __SR_GAZEBO_SIM_GAZEBO_HARDWARE_SIM_H
00026 #define __SR_GAZEBO_SIM_GAZEBO_HARDWARE_SIM_H
00027 
00028 #include <string>
00029 #include <vector>
00030 #include <boost/unordered_map.hpp>
00031 #include <ros/ros.h>
00032 #include <pluginlib/class_list_macros.h>
00033 #include "ros_ethercat_model/robot_state.hpp"
00034 #include <gazebo_ros_control/default_robot_hw_sim.h>
00035 #include <gazebo_ros_control/robot_hw_sim.h>
00036 #include <urdf/model.h>
00037 
00038 namespace sr_gazebo_sim
00039 {
00040 
00041 class SrGazeboHWSim : public gazebo_ros_control::DefaultRobotHWSim
00042 {
00043 public:
00044   SrGazeboHWSim();
00045 
00046   bool initSim(
00047       const std::string &robot_namespace,
00048       ros::NodeHandle model_nh,
00049       gazebo::physics::ModelPtr parent_model,
00050       const urdf::Model *const urdf_model,
00051       std::vector <transmission_interface::TransmissionInfo> transmissions);
00052 
00053   void readSim(ros::Time time, ros::Duration period);
00054 
00055   void writeSim(ros::Time time, ros::Duration period);
00056 
00057 protected:
00058   template <class T>
00059   void fixJointName(std::vector<T> *items, const std::string old_joint_name, const std::string new_joint_name) const;
00060 
00061   void addFakeTransmissionsForJ0(std::vector<transmission_interface::TransmissionInfo> *transmissions);
00062 
00063   void initializeFakeRobotState(const urdf::Model*const urdf_model,
00064                                 const std::vector<transmission_interface::TransmissionInfo> &transmissions);
00065 
00066   bool isHandJoint(const std::vector<transmission_interface::TransmissionInfo> &transmissions,
00067                      const std::string &joint_name) const;
00068 
00069   void registerSecondHardwareInterface(std::vector<transmission_interface::TransmissionInfo> transmissions);
00070 
00071   static const std::string j0_transmission_name;
00072   static const std::string simple_transmission_name;
00073 
00074   ros_ethercat_model::RobotState fake_state_;
00075   boost::unordered_map<std::string, std::string> j2_j1_joints_;
00076 };
00077 
00078 typedef boost::shared_ptr <SrGazeboHWSim> SrGazeboHWSimPtr;
00079 
00080 }  // namespace sr_gazebo_sim
00081 
00082 
00083 #endif  // __SR_GAZEBO_SIM_GAZEBO_HARDWARE_SIM_H