SkidSteerDrivePlugin.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GAZEBO_PLUGINS_SKIDSTEERDRIVEPLUGIN_HH_
18#define GAZEBO_PLUGINS_SKIDSTEERDRIVEPLUGIN_HH_
19
20#include <string>
21#include <ignition/transport/Node.hh>
22
24#include "gazebo/physics/physics.hh"
26#include "gazebo/util/system.hh"
27
28#define NUMBER_OF_WHEELS 4
29
30namespace gazebo
31{
32 // \class SkidSteerDrivePlugin SkidSteerDrivePlugin.hh
36 class GZ_PLUGIN_VISIBLE SkidSteerDrivePlugin : public ModelPlugin
37 {
40
44 public: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
45
47 public: enum {RIGHT_FRONT, RIGHT_REAR, LEFT_FRONT, LEFT_REAR};
48
53 private: int RegisterJoint(int _index, const std::string &_name);
54
57 private: void OnVelMsg(ConstPosePtr &_msg);
58
60 private: transport::NodePtr node;
61
63 private: transport::SubscriberPtr velSub;
64
66 private: physics::ModelPtr model;
67
69 private: physics::JointPtr joints[NUMBER_OF_WHEELS];
70
72 private: double wheelSeparation;
73
75 private: double wheelRadius;
76
77 // Place ignition::transport objects at the end of this file to
78 // guarantee they are destructed first.
79
81 private: ignition::transport::Node nodeIgn;
82 };
83}
84#endif
#define NUMBER_OF_WHEELS
Definition SkidSteerDrivePlugin.hh:28
Forward declarations for transport.
A plugin with access to physics::Model.
Definition Plugin.hh:304
A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic.
Definition SkidSteerDrivePlugin.hh:37
@ RIGHT_REAR
Definition SkidSteerDrivePlugin.hh:47
@ RIGHT_FRONT
Definition SkidSteerDrivePlugin.hh:47
@ LEFT_FRONT
Definition SkidSteerDrivePlugin.hh:47
@ LEFT_REAR
Definition SkidSteerDrivePlugin.hh:47
void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Called when the plugin is loaded.
SkidSteerDrivePlugin()
Default Contstuctor.
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
boost::shared_ptr< Subscriber > SubscriberPtr
Definition TransportTypes.hh:53
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27