gazebo_ros_wheel_slip.h
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1 /*
2  * Copyright (C) 2017 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GAZEBO_ROS_WHEEL_SLIP_H
18 #define GAZEBO_ROS_WHEEL_SLIP_H
19 
20 // Custom Callback Queue
21 #include <ros/callback_queue.h>
22 #include <ros/subscribe_options.h>
23 
24 #include <ros/ros.h>
25 #include <std_msgs/Bool.h>
26 
27 // dynamic reconfigure stuff
28 #include <gazebo_plugins/WheelSlipConfig.h>
29 #include <dynamic_reconfigure/server.h>
30 
31 #include <gazebo/plugins/WheelSlipPlugin.hh>
32 
33 namespace gazebo
34 {
49 class GazeboRosWheelSlip : public WheelSlipPlugin
50 {
52  public: GazeboRosWheelSlip();
53 
55  public: virtual ~GazeboRosWheelSlip();
56 
58  public: virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
59 
61  private: void QueueThread();
62 
63  // Allow dynamic reconfiguration of wheel slip params
64  private: void configCallback(
65  gazebo_plugins::WheelSlipConfig &config,
66  uint32_t level);
67 
70 
72  private: dynamic_reconfigure::Server<gazebo_plugins::WheelSlipConfig>
74 
76  private: std::string robotNamespace_;
78  private: boost::thread callbackQueueThread_;
79 };
80 }
81 #endif
virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
Load the plugin.
ros::NodeHandle * rosnode_
pointer to ros node
void configCallback(gazebo_plugins::WheelSlipConfig &config, uint32_t level)
std::string robotNamespace_
for setting ROS name space
See the Gazebo documentation about the WheelSlipPlugin. This ROS wrapper exposes two parameters via d...
virtual ~GazeboRosWheelSlip()
Destructor.
void QueueThread()
Custom callback queue thread.
dynamic_reconfigure::Server< gazebo_plugins::WheelSlipConfig > * dyn_srv_
Dynamic reconfigure server.


gazebo_plugins
Author(s): John Hsu
autogenerated on Wed Aug 24 2022 02:47:52