Program Listing for File gazebo_ros_harness.hpp

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// Copyright 2019 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_PLUGINS__GAZEBO_ROS_HARNESS_HPP_
#define GAZEBO_PLUGINS__GAZEBO_ROS_HARNESS_HPP_

#include <gazebo/plugins/HarnessPlugin.hh>
#include <std_msgs/msg/empty.hpp>

#include <memory>

namespace gazebo_plugins
{
class GazeboRosHarnessPrivate;


class GazeboRosHarness : public gazebo::HarnessPlugin
{
public:
  GazeboRosHarness();

  ~GazeboRosHarness();

protected:
  void OnDetach(const std_msgs::msg::Empty::ConstSharedPtr msg);

  // Documentation inherited
  void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override;

private:
  std::unique_ptr<GazeboRosHarnessPrivate> impl_;
};
}  // namespace gazebo_plugins

#endif  // GAZEBO_PLUGINS__GAZEBO_ROS_HARNESS_HPP_