mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
57 lines
2.1 KiB
C++
57 lines
2.1 KiB
C++
|
/*----------------------------------------------------------------------------*/
|
||
|
|
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
|
||
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||
|
|
/* the project. */
|
||
|
|
/*----------------------------------------------------------------------------*/
|
||
|
|
|
||
|
|
#include "rangefinder.h"
|
||
|
|
|
||
|
|
#include <boost/algorithm/string/replace.hpp>
|
||
|
|
#include <gazebo/physics/physics.hh>
|
||
|
|
#include <gazebo/sensors/sensors.hh>
|
||
|
|
#include <gazebo/transport/transport.hh>
|
||
|
|
|
||
|
|
#ifdef _WIN32
|
||
|
|
// Ensure that Winsock2.h is included before Windows.h, which can get
|
||
|
|
// pulled in by anybody (e.g., Boost).
|
||
|
|
#include <Winsock2.h>
|
||
|
|
#endif
|
||
|
|
|
||
|
|
GZ_REGISTER_MODEL_PLUGIN(Rangefinder)
|
||
|
|
|
||
|
|
void Rangefinder::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
|
||
|
|
this->model = model;
|
||
|
|
|
||
|
|
// Parse SDF properties
|
||
|
|
sensor = std::dynamic_pointer_cast<gazebo::sensors::SonarSensor>(
|
||
|
|
gazebo::sensors::get_sensor(sdf->Get<std::string>("sensor")));
|
||
|
|
if (sdf->HasElement("topic")) {
|
||
|
|
topic = sdf->Get<std::string>("topic");
|
||
|
|
} else {
|
||
|
|
topic = "~/" + sdf->GetAttribute("name")->GetAsString();
|
||
|
|
}
|
||
|
|
|
||
|
|
gzmsg << "Initializing rangefinder: " << topic << " sensor=" << sensor->Name()
|
||
|
|
<< std::endl;
|
||
|
|
|
||
|
|
// Connect to Gazebo transport for messaging
|
||
|
|
std::string scoped_name =
|
||
|
|
model->GetWorld()->GetName() + "::" + model->GetScopedName();
|
||
|
|
boost::replace_all(scoped_name, "::", "/");
|
||
|
|
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
|
||
|
|
node->Init(scoped_name);
|
||
|
|
pub = node->Advertise<gazebo::msgs::Float64>(topic);
|
||
|
|
|
||
|
|
// Connect to the world update event.
|
||
|
|
// This will trigger the Update function every Gazebo iteration
|
||
|
|
updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
|
||
|
|
boost::bind(&Rangefinder::Update, this, _1));
|
||
|
|
}
|
||
|
|
|
||
|
|
void Rangefinder::Update(const gazebo::common::UpdateInfo& info) {
|
||
|
|
gazebo::msgs::Float64 msg;
|
||
|
|
msg.set_data(sensor->Range());
|
||
|
|
pub->Publish(msg);
|
||
|
|
}
|