qb_hand_gazebo_plugin.h

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#ifndef QB_HAND_GAZEBO_PLUGIN_H
#define QB_HAND_GAZEBO_PLUGIN_H
 
// ROS libraries
#include <ros/ros.h>
#include <controller_manager/controller_manager.h>
#include <transmission_interface/transmission_parser.h>
 
// Gazebo libraries
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
 
// internal libraries
#include <qb_device_gazebo/combined_robot_hw_sim.h>
#include <qb_hand_gazebo/qb_hand_gazebo_hardware_interface.h>
 
namespace qb_hand_gazebo_plugin {
class qbHandGazeboPlugin : public gazebo::ModelPlugin {
 
 public:
  qbHandGazeboPlugin() : ModelPlugin() {}
  ~qbHandGazeboPlugin() override;
  void Load(gazebo::physics::ModelPtr parent, sdf::ElementPtr sdf) override;
  void Update(const gazebo::common::UpdateInfo &info);
 
 private:
  std::string getURDF(const std::string &param_name);
  bool parseTransmissionsFromURDF(const std::string &urdf_string);
 
  gazebo::event::ConnectionPtr update_connection_;
  gazebo::physics::ModelPtr parent_model_;
  sdf::ElementPtr sdf_;
  ros::NodeHandle model_nh_;
  ros::NodeHandle model_nh_control_;
  ros::Duration control_period_;
  ros::Time last_sim_time_ros_;
  std::vector<transmission_interface::TransmissionInfo> transmissions_;
  std::shared_ptr<gazebo_ros_control::CombinedRobotHWSim> robot_hw_sim_;
  std::shared_ptr<controller_manager::ControllerManager> controller_manager_;
  std::string robot_description_;
  std::string robot_hw_sim_name_;
};
}  // namespace qb_hand_gazebo_plugin
 
#endif // QB_HAND_GAZEBO_PLUGIN_H