mimic_joint_plugin.h

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#ifndef ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN
#define ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN
 
// ROS includes
#include <ros/ros.h>
 
// ros_control
#include <control_toolbox/pid.h>
 
// Gazebo includes
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/physics.hh>
 
namespace gazebo {
 
    class MimicJointPlugin : public ModelPlugin {
      public:
        MimicJointPlugin();
        virtual ~MimicJointPlugin() override;
 
        virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) override;
 
      private:
        void UpdateChild();
 
        // Parameters
        std::string joint_name_, mimic_joint_name_, robot_namespace_;
        double multiplier_, offset_, sensitiveness_, max_effort_;
        bool has_pid_;
 
        // PID controller if needed
        control_toolbox::Pid pid_;
 
        // Pointers to the joints
        physics::JointPtr joint_, mimic_joint_;
 
        // Pointer to the model
        physics::ModelPtr model_;
 
        // Pointer to the world
        physics::WorldPtr world_;
 
        // Pointer to the update event connection
        event::ConnectionPtr update_connection_;
    };
 
}
 
#endif  // ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN