gazebo_controller_interface.h

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/*
 * Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
 * Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
 * Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
 * Copyright 2015 Janosch Nikolic, ASL, ETH Zurich, Switzerland
 * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
 * Copyright 2016 Geoffrey Hunter <gbmhunter@gmail.com>
 *
 * 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.
 */


#ifndef ROTORS_GAZEBO_PLUGINS_CONTROLLER_INTERFACE_H
#define ROTORS_GAZEBO_PLUGINS_CONTROLLER_INTERFACE_H

#include <boost/bind.hpp>
#include <Eigen/Eigen>
#include <stdio.h>

#include <gazebo/common/Plugin.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>

#include <mav_msgs/default_topics.h>  // This comes from the mav_comm repo

#include "Actuators.pb.h"

#include "rotors_gazebo_plugins/common.h"

namespace gazebo {

static const std::string kDefaultMotorVelocityReferenceTopic = "gazebo/command/motor_speed";

typedef const boost::shared_ptr<const gz_sensor_msgs::Actuators> GzActuatorsMsgPtr;

class GazeboControllerInterface : public ModelPlugin {
 public:
  GazeboControllerInterface()
      : ModelPlugin(),
        received_first_reference_(false),
        pubs_and_subs_created_(false),
        namespace_(kDefaultNamespace),
        // DEFAULT TOPICS
        motor_velocity_reference_pub_topic_(kDefaultMotorVelocityReferenceTopic),
        command_motor_speed_sub_topic_(mav_msgs::default_topics::COMMAND_ACTUATORS),
        //---------------
        node_handle_(NULL){}
  ~GazeboControllerInterface();

  void InitializeParams();
  void Publish();

 protected:
  void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
  void OnUpdate(const common::UpdateInfo& /*_info*/);

 private:

  bool received_first_reference_;

  bool pubs_and_subs_created_;

  void CreatePubsAndSubs();

  Eigen::VectorXd input_reference_;

  //===== VARIABLES READ FROM SDF FILE =====//
  std::string namespace_;
  std::string motor_velocity_reference_pub_topic_;
  std::string command_motor_speed_sub_topic_;


  gazebo::transport::NodePtr node_handle_;
  gazebo::transport::PublisherPtr motor_velocity_reference_pub_;
  gazebo::transport::SubscriberPtr cmd_motor_sub_;

  physics::ModelPtr model_;
  physics::WorldPtr world_;

  event::ConnectionPtr updateConnection_;

  boost::thread callback_queue_thread_;

  void QueueThread();

  void CommandMotorCallback(GzActuatorsMsgPtr& actuators_msg);

};

} // namespace gazebo

#endif // ROTORS_GAZEBO_PLUGINS_CONTROLLER_INTERFACE_H