gazebo_ros_sonar.h

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/*
 * Software License Agreement (Modified BSD License)
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 *  Copyright (c) 2012, PAL Robotics, S.L.
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#include <ros/ros.h>

#include <gazebo.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/sensors/RaySensor.hh>

#include <ros/callback_queue.h>
#include <sensor_msgs/Range.h>


namespace gazebo
{

class GazeboRosSonar : public  gazebo::SensorPlugin
{
public:
  GazeboRosSonar();
  virtual ~GazeboRosSonar();

protected:
  virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
  virtual void Update();

private:
  double GaussianKernel(double mu,double sigma);

private:
  gazebo::sensors::RaySensorPtr sensor_;

  ros::NodeHandle* node_handle_;
  ros::Publisher publisher_;

  sensor_msgs::Range range_;

  std::string namespace_;
  std::string topic_name_;
  std::string frame_id_;
  std::string radiation_;
  double fov_;
  double gaussian_noise_;

  gazebo::physics::WorldPtr parent_;

  common::Time last_time;

  gazebo::event::ConnectionPtr updateConnection;


};

} // namespace gazebo