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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
71 lines
2.3 KiB
C++
71 lines
2.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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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 angle of a joint.
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*
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* This plugin publishes the angle of a joint to the topic every
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* physics update. Supports reading in either radians or degrees.
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*
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* To add a potentiometer 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_pot" filename="libpotentiometer.so">
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* <joint>Joint Name</joint>
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* <topic>~/my/topic</topic>
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* <units>{degrees, radians}</units>
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* </plugin>
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*
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* - `joint`: Name of the joint this potentiometer is attached to.
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* - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
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* The default topic name will be the plugin name.
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* Recommended topic names are of the form:
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* /gazebo/frc/simulator/analog/n
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* where n is the analog channel for the pot.
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* - `multiplier`: Optional. Amount to multiply output with.
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* Useful when a rotary pot returns something other than an angle
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* - `units`: Optional. Defaults to radians.
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*/
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class Potentiometer : public gazebo::ModelPlugin {
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public:
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/// \brief Load the potentiometer 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 potentiometer 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 angle on this topic.
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std::string topic;
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/// \brief Whether or not this potentiometer measures radians or degrees.
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bool radians;
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/// \brief A scaling factor to apply to this potentiometer.
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double multiplier;
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/// \brief The joint that this potentiometer measures
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gazebo::physics::JointPtr joint;
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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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