allwpilib/wpilibc/wpilibC++Sim/include/simulation/SimGyro.h

#ifndef _SIM_GYRO_H
#define _SIM_GYRO_H

#include "simulation/gz_msgs/msgs.h"
#include <gazebo/transport/transport.hh>

using namespace gazebo;

class SimGyro {
public:
	SimGyro(std::string topic);

    void Reset();
    double GetAngle();
    double GetVelocity();

private:
    void sendCommand(std::string cmd);

    double position, velocity;
    transport::SubscriberPtr posSub, velSub;
    transport::PublisherPtr commandPub;
    void positionCallback(const msgs::ConstFloat64Ptr &msg);
    void velocityCallback(const msgs::ConstFloat64Ptr &msg);
};

#endif