gazebo_model_attachment_plugin.h

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#ifndef GAZEBO_MODEL_ATTACHMENT_PLUGIN_H
#define GAZEBO_MODEL_ATTACHMENT_PLUGIN_H
 
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <gazebo_model_attachment_plugin/Attach.h>
#include <gazebo_model_attachment_plugin/Detach.h>
#include <ros/ros.h>
 
#include <gazebo/common/Events.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/transport/TransportTypes.hh>
#include <gazebo/transport/transport.hh>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
 
namespace gazebo
{
 
class ModelAttachmentPlugin : public WorldPlugin
{
  public:
    ModelAttachmentPlugin();
 
    virtual ~ModelAttachmentPlugin();
 
  protected:
    void Load(physics::WorldPtr world, sdf::ElementPtr sdf);
 
  private:
    physics::WorldPtr world_;
 
    bool attachCallback(gazebo_model_attachment_plugin::Attach::Request& req,
                        gazebo_model_attachment_plugin::Attach::Response& res);
    bool detachCallback(gazebo_model_attachment_plugin::Detach::Request& req,
                        gazebo_model_attachment_plugin::Detach::Response& res);
 
    void attach(const std::string& joint_name, physics::ModelPtr m1, physics::ModelPtr m2, physics::LinkPtr l1,
                physics::LinkPtr l2);
    void detach(const std::string& joint_name, physics::ModelPtr m1, physics::ModelPtr m2);
 
    ros::NodeHandle nh_;
    ros::ServiceServer attach_srv_;
    ros::ServiceServer detach_srv_;
};
}  // namespace gazebo
 
#endif