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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_BARO_H 00030 #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_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 #ifdef USE_MAV_MSGS 00041 #include <mav_msgs/Height.h> 00042 #else 00043 #include <geometry_msgs/PointStamped.h> 00044 #endif 00045 #include <hector_uav_msgs/Altimeter.h> 00046 00047 #include <hector_gazebo_plugins/sensor_model.h> 00048 00049 namespace gazebo 00050 { 00051 00052 class GazeboRosBaro : public Controller 00053 { 00054 public: 00055 GazeboRosBaro(Entity *parent); 00056 virtual ~GazeboRosBaro(); 00057 00058 protected: 00059 virtual void LoadChild(XMLConfigNode *node); 00060 virtual void InitChild(); 00061 virtual void UpdateChild(); 00062 virtual void FiniChild(); 00063 00064 private: 00065 Model *parent_; 00066 Body *body_; 00067 00068 ros::NodeHandle* node_handle_; 00069 ros::Publisher height_publisher_; 00070 ros::Publisher altimeter_publisher_; 00071 00072 #ifdef USE_MAV_MSGS 00073 mav_msgs::Height height_; 00074 #else 00075 geometry_msgs::PointStamped height_; 00076 #endif 00077 hector_uav_msgs::Altimeter altimeter_; 00078 00079 ParamT<std::string> *body_name_; 00080 ParamT<std::string> *namespace_; 00081 ParamT<std::string> *frame_id_; 00082 ParamT<std::string> *height_topic_; 00083 ParamT<std::string> *altimeter_topic_; 00084 00085 ParamT<double> *elevation_; 00086 ParamT<double> *qnh_; 00087 00088 SensorModel sensor_model_; 00089 }; 00090 00091 } // namespace gazebo 00092 00093 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H