gazebo_ros_force.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: A dynamic controller plugin that performs generic force interface.
 * Author: John Hsu
 * Date: 24 Sept 2008
 * SVN: $Id$
 */
#ifndef GAZEBO_ROS_FORCE_HH
#define GAZEBO_ROS_FORCE_HH

// Custom Callback Queue
#include <ros/callback_queue.h>
#include <ros/subscribe_options.h>

#include <ros/ros.h>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

#include "physics/physics.h"
#include "transport/TransportTypes.hh"
#include "common/Plugin.hh"
#include "common/Events.hh"

#include <geometry_msgs/Wrench.h>

namespace gazebo
{


class GazeboRosForce : public ModelPlugin
{
  public: GazeboRosForce();

  public: virtual ~GazeboRosForce();

  protected: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

  protected: virtual void UpdateChild();

  private: void UpdateObjectForce(const geometry_msgs::Wrench::ConstPtr& _msg);

  private: physics::WorldPtr world_;

  private: physics::LinkPtr link_;

  private: ros::NodeHandle* rosnode_;
  private: ros::Subscriber sub_;

  private: boost::mutex lock_;

  private: std::string topic_name_;
  private: std::string link_name_;

  private: std::string robot_namespace_;

  // Custom Callback Queue
  private: ros::CallbackQueue queue_;
  private: void QueueThread();
  private: boost::thread callback_queue_thread_;
  private: geometry_msgs::Wrench wrench_msg_;

  // Pointer to the update event connection
  private: event::ConnectionPtr update_connection_;
};



}
#endif