disable_link_plugin.h

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#ifndef ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN
#define ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN

// ROS includes
#include <ros/ros.h>

// Gazebo includes
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/physics.hh>

namespace gazebo {

    class DisableLinkPlugin : public ModelPlugin {
      public:
        DisableLinkPlugin();
        virtual ~DisableLinkPlugin() override;

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

      private:
        // Parameters
        std::string link_name_;

        // Pointers to the joints
        physics::LinkPtr link_;

        // Pointer to the model
        physics::ModelPtr model_;

        // Pointer to the world
        physics::WorldPtr world_;
    };

}

#endif  // ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN