gazebo_ros_elevator.h
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00001 /*
00002  * Copyright 2015 Open Source Robotics Foundation
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 
00018 #ifndef _GAZEBO_ROS_PLUGINS_ELEVATOR_PLUGIN_H_
00019 #define _GAZEBO_ROS_PLUGINS_ELEVATOR_PLUGIN_H_
00020 
00021 #include <sdf/sdf.hh>
00022 
00023 // Gazebo
00024 #include <gazebo/plugins/ElevatorPlugin.hh>
00025 
00026 // ROS
00027 #include <ros/ros.h>
00028 #include <std_msgs/String.h>
00029 #include <ros/callback_queue.h>
00030 #include <ros/advertise_options.h>
00031 
00032 namespace gazebo
00033 {
00035   class GazeboRosElevator : public ElevatorPlugin
00036   {
00038     public: GazeboRosElevator();
00039 
00041     public: virtual ~GazeboRosElevator();
00042 
00046     public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
00047 
00050     public: void OnElevator(const std_msgs::String::ConstPtr &_msg);
00051 
00053     private: void QueueThread();
00054 
00056     private: std::string robotNamespace_;
00057 
00059     private: ros::NodeHandle *rosnode_;
00060 
00062     private: ros::Subscriber elevatorSub_;
00063 
00065     private: ros::CallbackQueue queue_;
00066 
00067     // \brief Custom Callback Queue thread
00068     private: boost::thread callbackQueueThread_;
00069   };
00070 }
00071 #endif


gazebo_plugins
Author(s): John Hsu
autogenerated on Thu Feb 23 2017 03:43:22