gazebo_ros_sonar.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:
7 // * Redistributions of source code must retain the above copyright
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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_SONAR_H
30 #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H
31 
32 #include <gazebo/common/Plugin.hh>
33 
34 #include <ros/callback_queue.h>
35 #include <ros/ros.h>
36 
37 #include <sensor_msgs/Range.h>
40 
41 #include <dynamic_reconfigure/server.h>
42 
43 namespace gazebo
44 {
45 
46 class GazeboRosSonar : public SensorPlugin
47 {
48 public:
50  virtual ~GazeboRosSonar();
51 
52 protected:
53  virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
54  virtual void Reset();
55  virtual void Update();
56 
57 private:
59  physics::WorldPtr world;
60 
61  sensors::RaySensorPtr sensor_;
62 
65 
66  sensor_msgs::Range range_;
67 
68  std::string namespace_;
69  std::string topic_;
70  std::string frame_id_;
71 
73 
75  event::ConnectionPtr updateConnection;
76 
78 };
79 
80 } // namespace gazebo
81 
82 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H
sensors::RaySensorPtr sensor_
ros::NodeHandle * node_handle_
virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
ros::Publisher publisher_
event::ConnectionPtr updateConnection
physics::WorldPtr world
The parent World.
sensor_msgs::Range range_
boost::shared_ptr< dynamic_reconfigure::Server< SensorModelConfig > > dynamic_reconfigure_server_


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