gazebo_ros_camera.h
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /*
18  * Desc: A dynamic controller plugin that publishes ROS image_raw
19  * camera_info topic for generic camera sensor.
20 */
21 
22 #ifndef GAZEBO_ROS_CAMERA_HH
23 #define GAZEBO_ROS_CAMERA_HH
24 
25 #include <string>
26 
27 // library for processing camera data for gazebo / ros conversions
28 #include <gazebo/plugins/CameraPlugin.hh>
29 
31 
32 namespace gazebo
33 {
34  class GazeboRosCamera : public CameraPlugin, GazeboRosCameraUtils
35  {
38  public: GazeboRosCamera();
39 
41  public: ~GazeboRosCamera();
42 
45  public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
46 
48  protected: virtual void OnNewFrame(const unsigned char *_image,
49  unsigned int _width, unsigned int _height,
50  unsigned int _depth, const std::string &_format);
51  };
52 }
53 #endif
54 
virtual void OnNewFrame(const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
Update the controller.
void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
Load the plugin.


gazebo_plugins
Author(s): John Hsu
autogenerated on Tue Apr 6 2021 02:19:39