acoustic_pinger_plugin.hh

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/*
 * Copyright (C) 2020 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 VRX_GAZEBO_ACOUSTIC_PINGER_PLUGIN_HH_
#define VRX_GAZEBO_ACOUSTIC_PINGER_PLUGIN_HH_

#include <geometry_msgs/Vector3.h>
#include <ros/ros.h>
#include <memory>
#include <mutex>
#include <string>
#include <gazebo/common/Events.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Time.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/sensors/GaussianNoiseModel.hh>
#include <ignition/math/Vector3.hh>

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

  public: virtual ~AcousticPinger();

  // Documentation inherited.
  public: void Load(physics::ModelPtr _parent,
                    sdf::ElementPtr _sdf);

  protected: virtual void Update();

  public: void PingerPositionCallback(
    const geometry_msgs::Vector3ConstPtr &_pos);

  // ROS integration
  private: std::unique_ptr<ros::NodeHandle> rosNodeHandle;

  public: ros::Subscriber setPositionSub;

  private: ros::Publisher rangeBearingPub;

  public: std::mutex mutex;

  private: physics::ModelPtr model;

  private: ignition::math::Vector3d position;

  // Variables that contain parameters of sensor simulation.
  private: std::string frameId;

  private: float updateRate;

  private: common::Time lastUpdateTime;

  private: event::ConnectionPtr updateConnection;

  // From Brian Bingham's rangebearing_gazebo_plugin.
  private: gazebo::sensors::NoisePtr rangeNoise = nullptr;

  private: gazebo::sensors::NoisePtr bearingNoise = nullptr;

  private: gazebo::sensors::NoisePtr elevationNoise = nullptr;
};
}

#endif