reset_plugin.cpp
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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 #include <hector_gazebo_plugins/reset_plugin.h>
00030 #include <gazebo/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   // Make sure the ROS node for Gazebo has already been initialized
00053   if (!ros::isInitialized())
00054   {
00055     ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
00056       << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
00057     return;
00058   }
00059 
00060   node_handle_ = new ros::NodeHandle;
00061   publisher_ = node_handle_->advertise<std_msgs::String>("/syscommand", 1);
00062 }
00063 
00065 // Reset the controller
00066 void GazeboResetPlugin::Reset()
00067 {
00068   std_msgs::String command;
00069   command.data = "reset";
00070   publisher_.publish(command);
00071 }
00072 
00073 // Register this plugin with the simulator
00074 GZ_REGISTER_MODEL_PLUGIN(GazeboResetPlugin)
00075 
00076 } // namespace gazebo


hector_gazebo_plugins
Author(s): Stefan Kohlbrecher , Johannes Meyer
autogenerated on Mon Jun 27 2016 04:58:09