ROSAGVPlugin.hh

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/*
 * Copyright 2016 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.
 *
*/
#ifndef ROS_AGV_PLUGIN_HH_
#define ROS_AGV_PLUGIN_HH_

#include <sdf/sdf.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/Plugin.hh>

// ROS
#include <ros/ros.h>
#include <osrf_gear/AGVControl.h>

namespace gazebo
{
  class ROSAGVPlugin : public ModelPlugin
  {
    public: ROSAGVPlugin();

    public: virtual ~ROSAGVPlugin();

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

    public: bool OnCommand(
      osrf_gear::AGVControl::Request &_req,
      osrf_gear::AGVControl::Response &_res);

    private: std::string agvName;

    private: std::string robotNamespace;

    private: ros::NodeHandle *rosnode;

    private: ros::ServiceServer rosService;

    private: ros::ServiceClient rosSubmitTrayClient;

    private: gazebo::common::PoseAnimationPtr anim;

    private: gazebo::physics::ModelPtr model;
  };
}
#endif