00001 //================================================================================================= 00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H 00030 #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H 00031 00032 #include <gazebo/common/Plugin.hh> 00033 00034 #include <ros/ros.h> 00035 #ifdef USE_MAV_MSGS 00036 #include <mav_msgs/Height.h> 00037 #else 00038 #include <geometry_msgs/PointStamped.h> 00039 #endif 00040 #include <hector_uav_msgs/Altimeter.h> 00041 00042 #include <hector_gazebo_plugins/sensor_model.h> 00043 #include <hector_gazebo_plugins/update_timer.h> 00044 00045 namespace gazebo 00046 { 00047 00048 class GazeboRosBaro : public ModelPlugin 00049 { 00050 public: 00051 GazeboRosBaro(); 00052 virtual ~GazeboRosBaro(); 00053 00054 protected: 00055 virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); 00056 virtual void Reset(); 00057 virtual void Update(); 00058 00059 private: 00061 physics::WorldPtr world; 00062 00064 physics::LinkPtr link; 00065 00066 ros::NodeHandle* node_handle_; 00067 ros::Publisher height_publisher_; 00068 ros::Publisher altimeter_publisher_; 00069 00070 #ifdef USE_MAV_MSGS 00071 mav_msgs::Height height_; 00072 #else 00073 geometry_msgs::PointStamped height_; 00074 #endif 00075 hector_uav_msgs::Altimeter altimeter_; 00076 00077 std::string namespace_; 00078 std::string height_topic_; 00079 std::string altimeter_topic_; 00080 std::string link_name_; 00081 std::string frame_id_; 00082 00083 double elevation_; 00084 double qnh_; 00085 00086 SensorModel sensor_model_; 00087 00088 UpdateTimer updateTimer; 00089 event::ConnectionPtr updateConnection; 00090 }; 00091 00092 } // namespace gazebo 00093 00094 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H