30 #ifndef JOINT_STATE_PUBLISHER_PLUGIN_HH 31 #define JOINT_STATE_PUBLISHER_PLUGIN_HH 33 #include <boost/bind.hpp> 34 #include <gazebo/gazebo.hh> 35 #include <gazebo/physics/physics.hh> 36 #include <gazebo/common/common.hh> 42 #include <sensor_msgs/JointState.h> 61 void Load ( physics::ModelPtr _parent, sdf::ElementPtr _sdf );
62 void OnUpdate (
const common::UpdateInfo & _info );
90 #endif //JOINT_STATE_PUBLISHER_PLUGIN_HH event::ConnectionPtr updateConnection
GazeboRosJointStatePublisher()
physics::ModelPtr parent_
~GazeboRosJointStatePublisher()
std::vector< physics::JointPtr > joints_
std::string robot_namespace_
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
boost::shared_ptr< ros::NodeHandle > rosnode_
GZ_REGISTER_MODEL_PLUGIN(GazeboRosF3D)
void publishJointStates()
sensor_msgs::JointState joint_state_
common::Time last_update_time_
ros::Publisher joint_state_publisher_
std::vector< std::string > joint_names_
void OnUpdate(const common::UpdateInfo &_info)