gazebo_ros_color.hh

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/*
 * Copyright (C) 2018 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 VMRC_GAZEBO_GAZEBO_ROS_COLOR_HH_
#define VMRC_GAZEBO_GAZEBO_ROS_COLOR_HH_

#include <ros/ros.h>
#include <std_msgs/ColorRGBA.h>
#include <gazebo/common/Plugin.hh>
#include <gazebo/rendering/Visual.hh>
#include <sdf/sdf.hh>

class GazeboRosColor : public gazebo::VisualPlugin
{
  // Documentation inherited.
  public: void Load(gazebo::rendering::VisualPtr _parent,
                    sdf::ElementPtr _sdf);

  private: gazebo::rendering::VisualPtr visual = nullptr;

  ros::Subscriber colorSub;

  ros::NodeHandle nh;

  void ColorCallback(const std_msgs::ColorRGBAConstPtr &_msg);
};

#endif