gazebo_ros_elevator.h

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/*
 * Copyright 2015 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 _GAZEBO_ROS_PLUGINS_ELEVATOR_PLUGIN_H_
#define _GAZEBO_ROS_PLUGINS_ELEVATOR_PLUGIN_H_

#include <sdf/sdf.hh>

// Gazebo
#include <gazebo/plugins/ElevatorPlugin.hh>

// ROS
#include <ros/ros.h>
#include <std_msgs/String.h>
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>

namespace gazebo
{
  class GazeboRosElevator : public ElevatorPlugin
  {
    public: GazeboRosElevator();

    public: virtual ~GazeboRosElevator();

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

    public: void OnElevator(const std_msgs::String::ConstPtr &_msg);

    private: void QueueThread();

    private: std::string robotNamespace_;

    private: ros::NodeHandle *rosnode_;

    private: ros::Subscriber elevatorSub_;

    private: ros::CallbackQueue queue_;

    // \brief Custom Callback Queue thread
    private: boost::thread callbackQueueThread_;
  };
}
#endif