ROSProximityRayPlugin.hh
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1 /*
2  * Copyright (C) 2016 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: ROS wrapper for Proximity Ray Plugin
19  * Author: Deanna Hood
20  * Date: 18 July 2016
21  */
22 
23 #ifndef _ROS_PROXIMITY_RAY_PLUGIN_HH_
24 #define _ROS_PROXIMITY_RAY_PLUGIN_HH_
25 
26 // Gazebo
27 #include "ProximityRayPlugin.hh"
28 #include <gazebo/physics/physics.hh>
29 #include <gazebo/common/Events.hh>
30 
31 // ROS
32 #include <ros/ros.h>
33 #include <osrf_gear/Proximity.h>
34 
35 namespace gazebo
36 {
39  {
41  public: ROSProximityRayPlugin();
42 
44  public: virtual ~ROSProximityRayPlugin();
45 
48  public: void Load( sensors::SensorPtr _parent, sdf::ElementPtr _sdf );
49 
51  public: virtual void OnNewLaserScans();
52 
54  protected: event::ConnectionPtr newLaserScansConnection;
55 
57  protected: ros::NodeHandle* rosnode;
58 
61 
64 
66  protected: osrf_gear::Proximity state_msg;
67 
69  protected: std::string robotNamespace;
70 
72  protected: std::string frameId;
73 
74  };
75 }
76 
77 #endif
78 
virtual void OnNewLaserScans()
Update callback.
osrf_gear::Proximity state_msg
ROS message for the sensor state.
ROS interface for the ProximityRayPlugin plugin.
void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
Load the plugin.
event::ConnectionPtr newLaserScansConnection
The connection tied to ROSProximityRayPlugin::OnNewLaserScans()
virtual ~ROSProximityRayPlugin()
Destructor.
A Ray Sensor Plugin which makes it act as a proximity sensor.
std::string frameId
for setting ROS frame id
ros::Publisher stateChangePub
ROS publisher for the sensor state changes.
ros::NodeHandle * rosnode
A pointer to the ROS node. A node will be instantiated if it does not exist.
ros::Publisher statePub
ROS publisher for the sensor state.
std::string robotNamespace
for setting ROS namespace


osrf_gear
Author(s):
autogenerated on Wed Sep 7 2016 03:48:12