00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Open Source Robotics Foundation 00005 * Copyright (c) 2013, The Johns Hopkins University 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Open Source Robotics Foundation 00019 * nor the names of its contributors may be 00020 * used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 *********************************************************************/ 00036 00037 /* 00038 Author: Jonathon Brohen, Dave Coleman 00039 Desc: Plugin template for hardware interfaces for ros_control and Gazebo 00040 */ 00041 00042 #ifndef __ROS_CONTROL_GAZEBO_ROBOT_HW_SIM_H 00043 #define __ROS_CONTROL_GAZEBO_ROBOT_HW_SIM_H 00044 00045 #include <gazebo/physics/physics.hh> 00046 #include <ros/ros.h> 00047 #include <hardware_interface/robot_hw.h> 00048 #include <transmission_interface/transmission_info.h> 00049 #include <urdf/model.h> 00050 00051 namespace gazebo_ros_control { 00052 00053 // Struct for passing loaded joint data 00054 struct JointData 00055 { 00056 std::string name_; 00057 std::string hardware_interface_; 00058 00059 JointData(const std::string& name, const std::string& hardware_interface) : 00060 name_(name), 00061 hardware_interface_(hardware_interface) 00062 {} 00063 }; 00064 00065 // Gazebo plugin version of RobotHW 00066 class RobotHWSim : public hardware_interface::RobotHW 00067 { 00068 public: 00069 00070 virtual ~RobotHWSim() { } 00071 00072 virtual bool initSim( 00073 const std::string& robot_namespace, 00074 ros::NodeHandle model_nh, 00075 gazebo::physics::ModelPtr parent_model, 00076 const urdf::Model *const urdf_model, 00077 std::vector<transmission_interface::TransmissionInfo> transmissions) = 0; 00078 00079 virtual void readSim(ros::Time time, ros::Duration period) = 0; 00080 00081 virtual void writeSim(ros::Time time, ros::Duration period) = 0; 00082 00083 }; 00084 00085 } 00086 00087 #endif // ifndef __ROS_CONTROL_GAZEBO_ROBOT_HW_SIM_H