gazebo_ros_gps.h
Go to the documentation of this file.00001 //================================================================================================= 00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H 00030 #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H 00031 00032 #include <gazebo/Controller.hh> 00033 #include <gazebo/Entity.hh> 00034 #include <gazebo/Model.hh> 00035 #include <gazebo/Body.hh> 00036 #include <gazebo/Param.hh> 00037 #include <gazebo/Time.hh> 00038 00039 #include <ros/ros.h> 00040 #include <sensor_msgs/NavSatFix.h> 00041 #include <geometry_msgs/Vector3Stamped.h> 00042 #include <hector_gazebo_plugins/sensor_model.h> 00043 00044 namespace gazebo 00045 { 00046 00047 class GazeboRosGps : public Controller 00048 { 00049 public: 00050 GazeboRosGps(Entity *parent); 00051 virtual ~GazeboRosGps(); 00052 00053 protected: 00054 virtual void LoadChild(XMLConfigNode *node); 00055 virtual void InitChild(); 00056 virtual void UpdateChild(); 00057 virtual void FiniChild(); 00058 00059 private: 00060 Model *parent_; 00061 Body *body_; 00062 00063 ros::NodeHandle* node_handle_; 00064 ros::Publisher fix_publisher_; 00065 ros::Publisher velocity_publisher_; 00066 00067 sensor_msgs::NavSatFix fix_; 00068 geometry_msgs::Vector3Stamped velocity_; 00069 00070 ParamT<std::string> *body_name_; 00071 ParamT<std::string> *namespace_; 00072 ParamT<std::string> *frame_id_; 00073 ParamT<std::string> *fix_topic_; 00074 ParamT<std::string> *velocity_topic_; 00075 00076 ParamT<double> *reference_latitude_; 00077 ParamT<double> *reference_longitude_; 00078 ParamT<double> *reference_heading_; 00079 ParamT<double> *reference_altitude_; 00080 ParamT<sensor_msgs::NavSatStatus::_status_type> *status_; 00081 ParamT<sensor_msgs::NavSatStatus::_service_type> *service_; 00082 00083 SensorModel3 position_error_model_; 00084 SensorModel3 velocity_error_model_; 00085 }; 00086 00087 } // namespace gazebo 00088 00089 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H