include
rotors_gazebo_plugins
external
gazebo_lidar_plugin.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2012-2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/*
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* Desc: Ray Plugin
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* Author: Nate Koenig mod by John Hsu
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*/
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#ifndef _GAZEBO_RAY_PLUGIN_HH_
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#define _GAZEBO_RAY_PLUGIN_HH_
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/sensors/SensorTypes.hh"
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#include "gazebo/sensors/RaySensor.hh"
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#include "gazebo/util/system.hh"
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#include "Lidar.pb.h"
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namespace
gazebo
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{
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class
GAZEBO_VISIBLE
GazeboLidarPlugin
:
public
SensorPlugin
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{
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public
:
GazeboLidarPlugin
();
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public
:
virtual
~
GazeboLidarPlugin
();
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public
:
virtual
void
OnNewLaserScans();
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public
:
void
Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
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protected
: physics::WorldPtr
world
;
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private
:
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sensors::RaySensorPtr
parentSensor
;
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transport::NodePtr
node_handle_
;
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transport::PublisherPtr
lidar_pub_
;
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std::string
namespace_
;
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private
:
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event::ConnectionPtr
newLaserScansConnection
;
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lidar_msgs::msgs::lidar
lidar_message
;
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};
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}
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#endif
gazebo
gazebo::GazeboLidarPlugin::parentSensor
sensors::RaySensorPtr parentSensor
The parent sensor.
Definition:
gazebo_lidar_plugin.h:55
gazebo::GazeboLidarPlugin::node_handle_
transport::NodePtr node_handle_
Definition:
gazebo_lidar_plugin.h:56
gazebo::GazeboLidarPlugin::world
physics::WorldPtr world
Pointer to parent.
Definition:
gazebo_lidar_plugin.h:51
gazebo::GazeboLidarPlugin
A Gazebo LIDAR plugin.
Definition:
gazebo_lidar_plugin.h:35
gazebo::GazeboLidarPlugin::newLaserScansConnection
event::ConnectionPtr newLaserScansConnection
The connection tied to RayPlugin::OnNewLaserScans()
Definition:
gazebo_lidar_plugin.h:63
gazebo::GazeboLidarPlugin::lidar_pub_
transport::PublisherPtr lidar_pub_
Definition:
gazebo_lidar_plugin.h:57
gazebo::GazeboLidarPlugin::lidar_message
lidar_msgs::msgs::lidar lidar_message
Definition:
gazebo_lidar_plugin.h:64
gazebo::GazeboLidarPlugin::namespace_
std::string namespace_
Definition:
gazebo_lidar_plugin.h:58
rotors_gazebo_plugins
Author(s): Fadri Furrer, Michael Burri, Mina Kamel, Janosch Nikolic, Markus Achtelik
autogenerated on Mon Feb 28 2022 23:39:03