17#ifndef GAZEBO_PLUGINS_DIFFDRIVEPLUGIN_HH_
18#define GAZEBO_PLUGINS_DIFFDRIVEPLUGIN_HH_
19#include <ignition/transport/Node.hh>
22#include "gazebo/physics/physics.hh"
33 public:
virtual void Init();
35 private:
void OnUpdate();
37 private:
void OnVelMsg(ConstPosePtr &_msg);
45 private:
double wheelSpeed[2];
46 private:
double wheelSeparation;
47 private:
double wheelRadius;
56 private: ignition::transport::Node nodeIgn;
Forward declarations for transport.
Definition DiffDrivePlugin.hh:30
virtual void Init()
Override this method for custom plugin initialization behavior.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
A plugin with access to physics::Model.
Definition Plugin.hh:304
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
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