gazebo_ros_control_plugin.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Open Source Robotics Foundation
 *  Copyright (c) 2013, The Johns Hopkins University
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Open Source Robotics Foundation
 *     nor the names of its contributors may be
 *     used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Dave Coleman, Jonathan Bohren
   Desc:   Gazebo plugin for ros_control that allows 'hardware_interfaces' to be plugged in
           using pluginlib
*/

// Boost
#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>

// ROS
#include <ros/ros.h>
#include <pluginlib/class_loader.h>

// Gazebo
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>

// ros_control
#include <gazebo_ros_control/robot_hw_sim.h>
#include <controller_manager/controller_manager.h>
#include <transmission_interface/transmission_parser.h>

namespace gazebo_ros_control
{

class GazeboRosControlPlugin : public gazebo::ModelPlugin
{
public:

  virtual ~GazeboRosControlPlugin();

  // Overloaded Gazebo entry point
  virtual void Load(gazebo::physics::ModelPtr parent, sdf::ElementPtr sdf);

  // Called by the world update start event
  void Update();

  // Called on world reset
  virtual void Reset();

  // Get the URDF XML from the parameter server
  std::string getURDF(std::string param_name) const;

  // Get Transmissions from the URDF
  bool parseTransmissionsFromURDF(const std::string& urdf_string);

protected:

  // Node Handles
  ros::NodeHandle model_nh_; // namespaces to robot name

  // Pointer to the model
  gazebo::physics::ModelPtr parent_model_;
  sdf::ElementPtr sdf_;

  // deferred load in case ros is blocking
  boost::thread deferred_load_thread_;

  // Pointer to the update event connection
  gazebo::event::ConnectionPtr update_connection_;

  // Interface loader
  boost::shared_ptr<pluginlib::ClassLoader<gazebo_ros_control::RobotHWSim> > robot_hw_sim_loader_;
  void load_robot_hw_sim_srv();

  // Strings
  std::string robot_namespace_;
  std::string robot_description_;

  // Transmissions in this plugin's scope
  std::vector<transmission_interface::TransmissionInfo> transmissions_;

  // Robot simulator interface
  std::string robot_hw_sim_type_str_;
  boost::shared_ptr<gazebo_ros_control::RobotHWSim> robot_hw_sim_;

  // Controller manager
  boost::shared_ptr<controller_manager::ControllerManager> controller_manager_;

  // Timing
  ros::Duration control_period_;
  ros::Time last_update_sim_time_ros_;
  ros::Time last_write_sim_time_ros_;

};


}