gazebo_ros_gpu_laser.h

Go to the documentation of this file.

/*
 * Copyright 2012 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_LASER_HH
#define GAZEBO_ROS_LASER_HH

#include <string>

#include <boost/bind.hpp>
#include <boost/thread.hpp>

#include <ros/ros.h>
#include <ros/advertise_options.h>
#include <sensor_msgs/LaserScan.h>

#include <gazebo/physics/physics.hh>
#include <gazebo/transport/TransportTypes.hh>
#include <gazebo/msgs/MessageTypes.hh>
#include <gazebo/common/Time.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Events.hh>
#include <gazebo/sensors/SensorTypes.hh>
#include <gazebo/plugins/GpuRayPlugin.hh>

#include <sdf/sdf.hh>

#include <gazebo_plugins/PubQueue.h>

namespace gazebo
{
  class GazeboRosLaser : public GpuRayPlugin
  {
    public: GazeboRosLaser();

    public: ~GazeboRosLaser();

    public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);

    private: int laser_connect_count_;
    private: void LaserConnect();
    private: void LaserDisconnect();

    // Pointer to the model
    private: std::string world_name_;
    private: physics::WorldPtr world_;
    private: sensors::GpuRaySensorPtr parent_ray_sensor_;

    private: ros::NodeHandle* rosnode_;
    private: ros::Publisher pub_;
    private: PubQueue<sensor_msgs::LaserScan>::Ptr pub_queue_;

    private: std::string topic_name_;

    private: std::string frame_name_;

    private: std::string tf_prefix_;

    private: std::string robot_namespace_;

    // deferred load in case ros is blocking
    private: sdf::ElementPtr sdf;
    private: void LoadThread();
    private: boost::thread deferred_load_thread_;

    private: gazebo::transport::NodePtr gazebo_node_;
    private: gazebo::transport::SubscriberPtr laser_scan_sub_;
    private: void OnScan(ConstLaserScanStampedPtr &_msg);

    private: PubMultiQueue pmq;
  };
}
#endif