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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
56 lines
1.9 KiB
C++
56 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <simulation/gz_msgs/msgs.h>
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#include <gazebo/gazebo.hh>
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using namespace gazebo;
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/**
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* \brief Plugin for reading the range of obstacles.
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*
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* This plugin publishes the range of obstacles detected by a sonar
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* rangefinder every physics update.
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*
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* To add a rangefinder to your robot, add the following XML to your
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* robot model:
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*
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* <plugin name="my_rangefinder" filename="libgz_rangefinder.so">
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* <sensor>Sensor Name</sensor>
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* <topic>~/my/topic</topic>
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* </plugin>
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*
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* - `sensor`: Name of the sonar sensor that this rangefinder uses.
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* - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
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*/
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class Rangefinder: public ModelPlugin {
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public:
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Rangefinder();
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~Rangefinder();
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/// \brief Load the rangefinder and configures it according to the sdf.
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void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
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/// \brief Sends out the rangefinder reading each timestep.
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void Update(const common::UpdateInfo &info);
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private:
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/// \brief Publish the range on this topic.
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std::string topic;
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/// \brief The sonar sensor that this rangefinder uses
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sensors::SonarSensorPtr sensor;
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physics::ModelPtr model; ///< \brief The model that this is attached to.
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event::ConnectionPtr updateConn; ///< \brief Pointer to the world update function.
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transport::NodePtr node; ///< \brief The node we're advertising on.
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transport::PublisherPtr pub; ///< \brief Publisher handle.
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};
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