mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2016-2017. 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. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <string>
|
|
|
|
#include <gazebo/gazebo.hh>
|
|
#include <gazebo/physics/physics.hh>
|
|
#include <gazebo/transport/transport.hh>
|
|
|
|
#include "simulation/gz_msgs/msgs.h"
|
|
|
|
/**
|
|
* \brief Plugin for publishing the simulation time.
|
|
*
|
|
* This plugin publishes the simualtaion time in seconds every physics
|
|
* update.
|
|
*
|
|
* To add a clock to your robot, add the following XML to your robot
|
|
* model:
|
|
*
|
|
* <plugin name="my_clock" filename="libclock.so">
|
|
* <topic>~/my/topic</topic>
|
|
* </plugin>
|
|
*
|
|
* - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
|
|
*
|
|
* \todo Make WorldPlugin?
|
|
*/
|
|
class Clock : public gazebo::ModelPlugin {
|
|
public:
|
|
/// \brief Load the clock and configures it according to the sdf.
|
|
void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
|
|
|
|
/// \brief Sends out time each timestep.
|
|
void Update(const gazebo::common::UpdateInfo& info);
|
|
|
|
private:
|
|
/// \brief Publish the time on this topic.
|
|
std::string topic;
|
|
|
|
/// \brief The model to which this is attached.
|
|
gazebo::physics::ModelPtr model;
|
|
|
|
/// \brief Pointer to the world update function.
|
|
gazebo::event::ConnectionPtr updateConn;
|
|
|
|
/// \brief The node on which we're advertising.
|
|
gazebo::transport::NodePtr node;
|
|
|
|
/// \brief Publisher handle.
|
|
gazebo::transport::PublisherPtr pub;
|
|
};
|