gazebo_ros_baro.h

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//=================================================================================================
// Copyright (c) 2012-2016, Institute of Flight Systems and Automatic Control,
// Technische Universität Darmstadt.
// All rights reserved.

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#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H
#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H

#include <gazebo/common/Plugin.hh>

#include <ros/ros.h>
#include <geometry_msgs/PointStamped.h>
#include <hector_uav_msgs/Altimeter.h>

#include <hector_gazebo_plugins/sensor_model.h>
#include <hector_gazebo_plugins/update_timer.h>

#include <dynamic_reconfigure/server.h>

namespace gazebo
{

class GazeboRosBaro : public ModelPlugin
{
public:
  GazeboRosBaro();
  virtual ~GazeboRosBaro();

protected:
  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
  virtual void Reset();
  virtual void Update();

private:
  physics::WorldPtr world;

  physics::LinkPtr link;

  ros::NodeHandle* node_handle_;
  ros::Publisher height_publisher_;
  ros::Publisher altimeter_publisher_;

  geometry_msgs::PointStamped height_;
  hector_uav_msgs::Altimeter altimeter_;

  std::string namespace_;
  std::string height_topic_;
  std::string altimeter_topic_;
  std::string link_name_;
  std::string frame_id_;

  double elevation_;
  double qnh_;

  SensorModel sensor_model_;

  UpdateTimer updateTimer;
  event::ConnectionPtr updateConnection;

  boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > dynamic_reconfigure_server_;
};

} // namespace gazebo

#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H