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 #include <hector_gazebo_plugins/reset_plugin.h> 00030 #include "common/Events.hh" 00031 00032 #include <std_msgs/String.h> 00033 00034 namespace gazebo { 00035 00036 GazeboResetPlugin::GazeboResetPlugin() 00037 { 00038 } 00039 00041 // Destructor 00042 GazeboResetPlugin::~GazeboResetPlugin() 00043 { 00044 node_handle_->shutdown(); 00045 delete node_handle_; 00046 } 00047 00049 // Load the controller 00050 void GazeboResetPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) 00051 { 00052 if (!ros::isInitialized()) 00053 { 00054 int argc = 0; 00055 char** argv = NULL; 00056 ros::init(argc,argv, "gazebo", ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); 00057 } 00058 00059 node_handle_ = new ros::NodeHandle; 00060 publisher_ = node_handle_->advertise<std_msgs::String>("/syscommand", 1); 00061 } 00062 00064 // Reset the controller 00065 void GazeboResetPlugin::Reset() 00066 { 00067 std_msgs::String command; 00068 command.data = "reset"; 00069 publisher_.publish(command); 00070 } 00071 00072 // Register this plugin with the simulator 00073 GZ_REGISTER_MODEL_PLUGIN(GazeboResetPlugin) 00074 00075 } // namespace gazebo