RPTROSPlugin.hh

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// Copyright (c) 2016 The UUV Simulator Authors.
// All rights reserved.
//
// 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 __UUV_RPT_ROS_PLUGIN_HH__
#define __UUV_RPT_ROS_PLUGIN_HH__

#include <gazebo/gazebo.hh>
#include <ros/ros.h>
#include <uuv_sensor_ros_plugins/ROSBaseModelPlugin.hh>
#include <uuv_sensor_ros_plugins_msgs/PositionWithCovarianceStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include "SensorRpt.pb.h"

namespace gazebo
{
  class RPTROSPlugin :  public ROSBaseModelPlugin
  {
    public: RPTROSPlugin();

    public: virtual ~RPTROSPlugin();

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

    protected: virtual bool OnUpdate(const common::UpdateInfo& _info);

    protected: ignition::math::Vector3d position;

    protected: uuv_sensor_ros_plugins_msgs::PositionWithCovarianceStamped rosMessage;
  };
}

#endif // __UUV_RPT_ROS_PLUGIN_HH__