disable_link_plugin.cpp
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34 
36 
37 namespace gazebo
38 {
39 
41 {
42  kill_sim = false;
43  link_.reset();
44 }
45 
47 {
48  kill_sim = true;
49 }
50 
51 void DisableLinkPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf )
52 {
53  model_ = _parent;
54  world_ = model_->GetWorld();
55 
56  // Check for link element
57  if (!_sdf->HasElement("link"))
58  {
59  ROS_ERROR("No link element present. DisableLinkPlugin could not be loaded.");
60  return;
61  }
62 
63  link_name_ = _sdf->GetElement("link")->Get<std::string>();
64 
65  // Get pointers to joints
66  link_ = model_->GetLink(link_name_);
67  if(link_)
68  link_->SetEnabled(false);
69  else
70  ROS_WARN("Link %s not found!", link_name_.c_str());
71 }
72 
74 
75 }
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
GZ_REGISTER_MODEL_PLUGIN(DisableLinkPlugin)


dsr_description
Author(s): Kab Kyoum Kim , Jin Hyuk Gong , Jeongwoo Lee
autogenerated on Sat May 18 2019 02:32:47