reset_plugin.cpp
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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
8 // notice, this list of conditions and the following disclaimer.
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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26 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27 //=================================================================================================
28 
30 #include <gazebo/common/Events.hh>
31 
32 #include <std_msgs/String.h>
33 
34 namespace gazebo {
35 
37 {
38 }
39 
41 // Destructor
43 {
45  delete node_handle_;
46 }
47 
49 // Load the controller
50 void GazeboResetPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
51 {
52  // Make sure the ROS node for Gazebo has already been initialized
53  if (!ros::isInitialized())
54  {
55  ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
56  << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
57  return;
58  }
59 
61  publisher_ = node_handle_->advertise<std_msgs::String>("/syscommand", 1);
62 }
63 
65 // Reset the controller
67 {
68  std_msgs::String command;
69  command.data = "reset";
70  publisher_.publish(command);
71 }
72 
73 // Register this plugin with the simulator
74 GZ_REGISTER_MODEL_PLUGIN(GazeboResetPlugin)
75 
76 } // namespace gazebo
void publish(const boost::shared_ptr< M > &message) const
ROSCPP_DECL bool isInitialized()
ros::NodeHandle * node_handle_
Definition: reset_plugin.h:49
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
ROSLIB_DECL std::string command(const std::string &cmd)
#define ROS_FATAL_STREAM(args)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
ros::Publisher publisher_
Definition: reset_plugin.h:50


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