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ebd41fe0bb
The models and meshes are not included. We will need to find an alternate way to reintegrate these and use them. * Add simulation/gz_msgs back, and build with Gradle. * Add back in the frc simulation plugins for gazebo. * Add a new shared library, halsim_gazebo. This library will become the interface between the HAL sim layer and gazebo. * Preserve the first channel number used in created Encoders in the Sim MockData. This allows us to use the DIO channel number to connect with simulated encoders. * Have the HAL Simulator set the reverse direction on creation. This enables a simulator to be aware of the direction. * Add a drive_motor plugin. This is a bit of a 'magic' motor, which allows us to build robot models that drive in a more realistic fashion. It does this by apply forces directly to the chassis, rather than relying on the complex motion dynamics of a driven wheel. This in turn allows the model to reduce wheel friction, reducing scrub, and allowing for a more natural driving experience.
60 lines
1.9 KiB
C++
60 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 FIRST. 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 <string>
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#include <gazebo/gazebo.hh>
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#include "simulation/gz_msgs/msgs.h"
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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="librangefinder.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 gazebo::ModelPlugin {
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public:
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/// \brief Load the rangefinder and configures it according to the sdf.
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void Load(gazebo::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 gazebo::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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gazebo::sensors::SonarSensorPtr sensor;
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/// \brief The model to which this is attached.
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gazebo::physics::ModelPtr model;
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/// \brief Pointer to the world update function.
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gazebo::event::ConnectionPtr updateConn;
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/// \brief The node on which we're advertising.
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gazebo::transport::NodePtr node;
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/// \brief Publisher handle.
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gazebo::transport::PublisherPtr pub;
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};
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