gazebo_ros_tricycle_drive.h

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 *  Copyright (c) 2013, Markus Bader <markus.bader@tuwien.ac.at>
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#ifndef TRICYCLE_DRIVE_PLUGIN_HH
#define TRICYCLE_DRIVE_PLUGIN_HH
 
#include <map>
 
// Gazebo
#include <gazebo_plugins/gazebo_ros_utils.h>
 
// ROS
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Pose2D.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/OccupancyGrid.h>
#include <sensor_msgs/JointState.h>
 
// Custom Callback Queue
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>
 
// Boost
#include <boost/thread.hpp>
#include <boost/bind.hpp>
 
namespace gazebo {
 
class Joint;
class Entity;
 
 
class GazeboRosTricycleDrive : public ModelPlugin {
 
    class TricycleDriveCmd {
    public:
        TricycleDriveCmd():speed(0), angle(0) {};
        double speed;
        double angle;
    };
 
    enum OdomSource
    {
        ENCODER = 0,
        WORLD = 1,
    };
public:
    GazeboRosTricycleDrive();
    ~GazeboRosTricycleDrive();
    void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
 
protected:
    virtual void UpdateChild();
    virtual void FiniChild();
 
private:
    GazeboRosPtr gazebo_ros_;
    physics::ModelPtr parent;
    void publishOdometry(double step_time);
    void publishWheelTF(); 
    void publishWheelJointState();
    void motorController(double target_speed, double target_angle, double dt);
 
    event::ConnectionPtr update_connection_;
 
    physics::JointPtr joint_steering_;
    physics::JointPtr joint_wheel_actuated_;
    physics::JointPtr joint_wheel_encoder_left_;
    physics::JointPtr joint_wheel_encoder_right_;
 
    double diameter_encoder_wheel_;
    double diameter_actuated_wheel_;
    double wheel_acceleration_;
    double wheel_deceleration_;
    double wheel_speed_tolerance_;
    double steering_angle_tolerance_;
    double steering_speed_;
    double separation_encoder_wheel_;
 
    OdomSource odom_source_;
    double wheel_torque_;
 
    std::string robot_namespace_;
    std::string command_topic_;
    std::string odometry_topic_;
    std::string odometry_frame_;
    std::string robot_base_frame_;
 
    // ROS STUFF
    ros::Publisher odometry_publisher_;
    ros::Subscriber cmd_vel_subscriber_;
    boost::shared_ptr<tf::TransformBroadcaster> transform_broadcaster_;
    sensor_msgs::JointState joint_state_;
    ros::Publisher joint_state_publisher_;
    nav_msgs::Odometry odom_;
 
    boost::mutex lock;
 
 
    // Custom Callback Queue
    ros::CallbackQueue queue_;
    boost::thread callback_queue_thread_;
    void QueueThread();
 
    // DiffDrive stuff
    void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg);
 
    void UpdateOdometryEncoder();
 
    TricycleDriveCmd cmd_;
    bool alive_;
    geometry_msgs::Pose2D pose_encoder_;
    common::Time last_odom_update_;
 
    // Update Rate
    double update_rate_;
    double update_period_;
    common::Time last_actuator_update_;
 
    // Flags
    bool publishWheelTF_;
    bool publishWheelJointState_;
 
};
 
}
 
#endif