Program Listing for File gazebo_ros2_control_plugin.hpp

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// Copyright (c) 2013, Open Source Robotics Foundation. All rights reserved.
// Copyright (c) 2013, The Johns Hopkins University. All rights reserved.
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/* Author: Dave Coleman, Jonathan Bohren
   Desc:   Gazebo plugin for ros_control that allows 'hardware_interfaces' to be plugged in
           using pluginlib
*/

#ifndef GAZEBO_ROS2_CONTROL__GAZEBO_ROS2_CONTROL_PLUGIN_HPP_
#define GAZEBO_ROS2_CONTROL__GAZEBO_ROS2_CONTROL_PLUGIN_HPP_

#include <memory>
#include <string>
#include <vector>

#include "controller_manager/controller_manager.hpp"

#include "gazebo/common/common.hh"
#include "gazebo/physics/Model.hh"

namespace gazebo_ros2_control
{
class GazeboRosControlPrivate;

class GazeboRosControlPlugin : public gazebo::ModelPlugin
{
public:
  GazeboRosControlPlugin();

  ~GazeboRosControlPlugin();

  // Overloaded Gazebo entry point
  void Load(gazebo::physics::ModelPtr parent, sdf::ElementPtr sdf) override;

private:
  std::unique_ptr<GazeboRosControlPrivate> impl_;
};
}  // namespace gazebo_ros2_control

#endif  // GAZEBO_ROS2_CONTROL__GAZEBO_ROS2_CONTROL_PLUGIN_HPP_