robot_hw_sim.h

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#ifndef __ROS_CONTROL_GAZEBO_ROBOT_HW_SIM_H
#define __ROS_CONTROL_GAZEBO_ROBOT_HW_SIM_H

#include <gazebo/physics/physics.hh>
#include <ros/ros.h>
#include <hardware_interface/robot_hw.h>
#include <transmission_interface/transmission_info.h>
#include <urdf/model.h>

namespace gazebo_ros_control {

  // Struct for passing loaded joint data
  struct JointData 
  {
    std::string name_;
    std::string hardware_interface_;

    JointData(const std::string& name, const std::string& hardware_interface) :
      name_(name),
      hardware_interface_(hardware_interface)
    {}
  };

  class RobotHWSim : public hardware_interface::RobotHW 
  {
  public:

    virtual ~RobotHWSim() { }

    virtual bool initSim(
        const std::string& robot_namespace,
        ros::NodeHandle model_nh, 
        gazebo::physics::ModelPtr parent_model,
        const urdf::Model *const urdf_model,
        std::vector<transmission_interface::TransmissionInfo> transmissions) = 0;

    virtual void readSim(ros::Time time, ros::Duration period) = 0;

    virtual void writeSim(ros::Time time, ros::Duration period) = 0;

    virtual void eStopActive(const bool active) {}

  };

}

#endif // ifndef __ROS_CONTROL_GAZEBO_ROBOT_HW_SIM_H