gazebo_ros_vacuum_gripper.h

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/*
 * Copyright (C) 2015-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/*
   Desc: GazeboVacuumGripper plugin for manipulating objects in Gazebo
 * Author: Kentaro Wada
 * Date: 7 Dec 2015
 */

#ifndef GAZEBO_ROS_VACUUM_GRIPPER_HH
#define GAZEBO_ROS_VACUUM_GRIPPER_HH

#include <string>

// Custom Callback Queue
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>
#include <ros/advertise_service_options.h>
#include <std_srvs/Empty.h>

#include <ros/ros.h>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

#include <gazebo/physics/physics.hh>
#include <gazebo/transport/TransportTypes.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Events.hh>


namespace gazebo
{

class GazeboRosVacuumGripper : public ModelPlugin
{
  public: GazeboRosVacuumGripper();

  public: virtual ~GazeboRosVacuumGripper();

  // Documentation inherited
  protected: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

  // Documentation inherited
  protected: virtual void UpdateChild();

  private: void QueueThread();

  private: bool OnServiceCallback(std_srvs::Empty::Request &req,
                                std_srvs::Empty::Response &res);
  private: bool OffServiceCallback(std_srvs::Empty::Request &req,
                                std_srvs::Empty::Response &res);

  private: bool status_;

  private: physics::ModelPtr parent_;

  private: physics::WorldPtr world_;

  private: physics::LinkPtr link_;

  private: ros::NodeHandle* rosnode_;

  private: boost::mutex lock_;
  private: ros::Publisher pub_;
  private: ros::ServiceServer srv1_;
  private: ros::ServiceServer srv2_;

  private: std::string topic_name_;
  private: std::string service_name_;
  private: std::string link_name_;

  private: std::string robot_namespace_;

  // Custom Callback Queue
  private: ros::CallbackQueue queue_;
  private: boost::thread callback_queue_thread_;

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

  private: int connect_count_;
  private: void Connect();
  private: void Disconnect();
};

}
#endif