gazebo_ros_ft_sensor.h

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/*
 * Desc: Force Torque Sensor Plugin
 * Author: Francisco Suarez-Ruiz
 * Date: 5 June 2014
 */

#ifndef GAZEBO_ROS_FT_HH
#define GAZEBO_ROS_FT_HH

// Custom Callback Queue
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>

#include <gazebo/physics/physics.hh>
#include <gazebo/transport/TransportTypes.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Events.hh>

#include <ros/ros.h>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <geometry_msgs/WrenchStamped.h>

namespace gazebo
{



class GazeboRosFT : public ModelPlugin
{
  public: GazeboRosFT();

  public: virtual ~GazeboRosFT();

  public: void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf );

  protected: virtual void UpdateChild();
  
  private: double gaussian_noise_;
  private: unsigned int seed;
  private: double GaussianKernel(double mu, double sigma);

  private: physics::JointPtr joint_;
  
  private: physics::LinkPtr parent_link_;
  
  private: physics::LinkPtr child_link_;
  
  private: physics::ModelPtr model_;
  
  private: physics::WorldPtr world_;

  private: ros::NodeHandle* rosnode_;
  private: ros::Publisher pub_;

  private: geometry_msgs::WrenchStamped wrench_msg_;

  private: std::string joint_name_;

  private: std::string topic_name_;

  private: std::string frame_name_;

  private: std::string robot_namespace_;

  private: boost::mutex lock_;
  
  private: common::Time last_time_;
  
  // rate control
  private: double update_rate_;

  private: int ft_connect_count_;
  private: void FTConnect();
  private: void FTDisconnect();

  // Custom Callback Queue
  private: ros::CallbackQueue queue_;
  private: void QueueThread();
  private: boost::thread callback_queue_thread_;

  // Pointer to the update event connection
  private: event::ConnectionPtr update_connection_;

};




}

#endif