gazebo_ros_harness.h
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00001 /*
00002  * Copyright (C) 2016 Open Source Robotics Foundation
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 #ifndef GAZEBO_ROS_HARNESS_H
00018 #define GAZEBO_ROS_HARNESS_H
00019 
00020 // Custom Callback Queue
00021 #include <ros/callback_queue.h>
00022 #include <ros/subscribe_options.h>
00023 
00024 #include <ros/ros.h>
00025 #include <std_msgs/Float32.h>
00026 #include <std_msgs/Bool.h>
00027 
00028 #include <gazebo/plugins/HarnessPlugin.hh>
00029 
00030 namespace gazebo
00031 {
00042 class GazeboRosHarness : public HarnessPlugin
00043 {
00045     public: GazeboRosHarness();
00046 
00048     public: virtual ~GazeboRosHarness();
00049 
00051     public: virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
00052 
00055     private: virtual void OnVelocity(const std_msgs::Float32::ConstPtr &msg);
00056 
00060     private: virtual void OnDetach(const std_msgs::Bool::ConstPtr &msg);
00061 
00063     private: void QueueThread();
00064 
00066     private: ros::NodeHandle *rosnode_;
00067 
00069     private: ros::Subscriber velocitySub_;
00070 
00072     private: ros::Subscriber detachSub_;
00073 
00075     private: std::string robotNamespace_;
00076     private: ros::CallbackQueue queue_;
00077     private: boost::thread callbackQueueThread_;
00078 };
00079 }
00080 #endif


gazebo_plugins
Author(s): John Hsu
autogenerated on Thu Jun 6 2019 18:41:09