gazebo_ros_gps.h
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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_GPS_H
00030 #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H
00031 
00032 #include <gazebo/common/Plugin.hh>
00033 
00034 #include <ros/ros.h>
00035 #include <sensor_msgs/NavSatFix.h>
00036 #include <geometry_msgs/Vector3Stamped.h>
00037 #include <hector_gazebo_plugins/sensor_model.h>
00038 #include <hector_gazebo_plugins/update_timer.h>
00039 
00040 #include <dynamic_reconfigure/server.h>
00041 #include <hector_gazebo_plugins/GNSSConfig.h>
00042 
00043 namespace gazebo
00044 {
00045 
00046 class GazeboRosGps : public ModelPlugin
00047 {
00048 public:
00049   GazeboRosGps();
00050   virtual ~GazeboRosGps();
00051 
00052 protected:
00053   virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
00054   virtual void Reset();
00055   virtual void Update();
00056 
00057   typedef hector_gazebo_plugins::GNSSConfig GNSSConfig;
00058   void dynamicReconfigureCallback(GNSSConfig &config, uint32_t level);
00059 
00060 private:
00062   physics::WorldPtr world;
00063 
00065   physics::LinkPtr link;
00066 
00067   ros::NodeHandle* node_handle_;
00068   ros::Publisher fix_publisher_;
00069   ros::Publisher velocity_publisher_;
00070 
00071   sensor_msgs::NavSatFix fix_;
00072   geometry_msgs::Vector3Stamped velocity_;
00073 
00074   std::string namespace_;
00075   std::string link_name_;
00076   std::string frame_id_;
00077   std::string fix_topic_;
00078   std::string velocity_topic_;
00079 
00080   double reference_latitude_;
00081   double reference_longitude_;
00082   double reference_heading_;
00083   double reference_altitude_;
00084 
00085   double radius_north_;
00086   double radius_east_;
00087 
00088   SensorModel3 position_error_model_;
00089   SensorModel3 velocity_error_model_;
00090 
00091   UpdateTimer updateTimer;
00092   event::ConnectionPtr updateConnection;
00093 
00094   boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > dynamic_reconfigure_server_position_, dynamic_reconfigure_server_velocity_;
00095   boost::shared_ptr<dynamic_reconfigure::Server<GNSSConfig> > dynamic_reconfigure_server_status_;
00096 };
00097 
00098 } // namespace gazebo
00099 
00100 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H


hector_gazebo_plugins
Author(s): Stefan Kohlbrecher , Johannes Meyer
autogenerated on Wed Aug 26 2015 11:44:35