17#ifndef GAZEBO_PLUGINS_SKIDSTEERDRIVEPLUGIN_HH_
18#define GAZEBO_PLUGINS_SKIDSTEERDRIVEPLUGIN_HH_
21#include <ignition/transport/Node.hh>
24#include "gazebo/physics/physics.hh"
28#define NUMBER_OF_WHEELS 4
47 public:
enum {RIGHT_FRONT, RIGHT_REAR,
LEFT_FRONT, LEFT_REAR};
53 private:
int RegisterJoint(
int _index,
const std::string &_name);
57 private:
void OnVelMsg(ConstPosePtr &_msg);
72 private:
double wheelSeparation;
75 private:
double wheelRadius;
81 private: ignition::transport::Node nodeIgn;
#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