gazebo_ros_gps.h
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1 //=================================================================================================
2 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
3 // All rights reserved.
4 
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
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9 // * Redistributions in binary form must reproduce the above copyright
10 // notice, this list of conditions and the following disclaimer in the
11 // documentation and/or other materials provided with the distribution.
12 // * Neither the name of the Flight Systems and Automatic Control group,
13 // TU Darmstadt, nor the names of its contributors may be used to
14 // endorse or promote products derived from this software without
15 // specific prior written permission.
16 
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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27 //=================================================================================================
28 
29 #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H
30 #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H
31 
32 #include <gazebo/common/Plugin.hh>
33 
34 #include <ros/ros.h>
35 #include <sensor_msgs/NavSatFix.h>
36 #include <geometry_msgs/Vector3Stamped.h>
39 
40 #include <dynamic_reconfigure/server.h>
41 #include <hector_gazebo_plugins/GNSSConfig.h>
42 
43 namespace gazebo
44 {
45 
46 class GazeboRosGps : public ModelPlugin
47 {
48 public:
49  GazeboRosGps();
50  virtual ~GazeboRosGps();
51 
52 protected:
53  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
54  virtual void Reset();
55  virtual void Update();
56 
57  typedef hector_gazebo_plugins::GNSSConfig GNSSConfig;
58  void dynamicReconfigureCallback(GNSSConfig &config, uint32_t level);
59 
60 private:
62  physics::WorldPtr world;
63 
65  physics::LinkPtr link;
66 
70 
71  sensor_msgs::NavSatFix fix_;
72  geometry_msgs::Vector3Stamped velocity_;
73 
74  std::string namespace_;
75  std::string link_name_;
76  std::string frame_id_;
77  std::string fix_topic_;
78  std::string velocity_topic_;
79 
84 
85  double radius_north_;
86  double radius_east_;
87 
90 
92  event::ConnectionPtr updateConnection;
93 
96 };
97 
98 } // namespace gazebo
99 
100 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H
UpdateTimer updateTimer
void dynamicReconfigureCallback(GNSSConfig &config, uint32_t level)
sensor_msgs::NavSatFix fix_
physics::WorldPtr world
The parent World.
boost::shared_ptr< dynamic_reconfigure::Server< SensorModelConfig > > dynamic_reconfigure_server_velocity_
ros::Publisher fix_publisher_
boost::shared_ptr< dynamic_reconfigure::Server< GNSSConfig > > dynamic_reconfigure_server_status_
hector_gazebo_plugins::GNSSConfig GNSSConfig
std::string velocity_topic_
std::string link_name_
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
std::string fix_topic_
SensorModel3 velocity_error_model_
geometry_msgs::Vector3Stamped velocity_
std::string namespace_
event::ConnectionPtr updateConnection
physics::LinkPtr link
The link referred to by this plugin.
ros::Publisher velocity_publisher_
ros::NodeHandle * node_handle_
boost::shared_ptr< dynamic_reconfigure::Server< SensorModelConfig > > dynamic_reconfigure_server_position_
SensorModel3 position_error_model_


hector_gazebo_plugins
Author(s): Stefan Kohlbrecher , Johannes Meyer
autogenerated on Fri Feb 5 2021 03:48:30