23 #ifndef GAZEBO_ROS_VACUUM_GRIPPER_HH 24 #define GAZEBO_ROS_VACUUM_GRIPPER_HH 32 #include <std_srvs/Empty.h> 35 #include <boost/thread.hpp> 36 #include <boost/thread/mutex.hpp> 38 #include <gazebo/physics/physics.hh> 39 #include <gazebo/transport/TransportTypes.hh> 40 #include <gazebo/common/Plugin.hh> 41 #include <gazebo/common/Events.hh> 104 protected:
void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
113 std_srvs::Empty::Response &res);
115 std_srvs::Empty::Response &res);
std::string service_name_
physics::ModelPtr parent_
void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
boost::thread callback_queue_thread_
Thead object for the running callback Thread.
std::string robot_namespace_
for setting ROS name space
void QueueThread()
The custom callback queue thread function.
physics::WorldPtr world_
A pointer to the gazebo world.
boost::mutex lock_
A mutex to lock access to fields that are used in ROS message callbacks.
virtual ~GazeboRosVacuumGripper()
Destructor.
bool OnServiceCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
physics::LinkPtr link_
A pointer to the Link, where force is applied.
virtual void UpdateChild()
std::string link_name_
The Link this plugin is attached to, and will exert forces on.
int connect_count_
: keep track of number of connections
bool OffServiceCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
event::ConnectionPtr update_connection_
std::string topic_name_
ROS Wrench topic name inputs.
ros::NodeHandle * rosnode_
A pointer to the ROS node. A node will be instantiated if it does not exist.
GazeboRosVacuumGripper()
Constructor.
ros::CallbackQueue queue_