mirror of
https://github.com/wpilibsuite/allwpilib
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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.
54 lines
1.8 KiB
C++
54 lines
1.8 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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#include "rangefinder.h"
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#include <boost/algorithm/string/replace.hpp>
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#include <gazebo/physics/physics.hh>
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#include <gazebo/sensors/sensors.hh>
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#include <gazebo/transport/transport.hh>
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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GZ_REGISTER_MODEL_PLUGIN(Rangefinder)
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void Rangefinder::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
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this->model = model;
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// Parse SDF properties
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sensor = std::dynamic_pointer_cast<gazebo::sensors::SonarSensor>(
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gazebo::sensors::get_sensor(sdf->Get<std::string>("sensor")));
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if (sdf->HasElement("topic")) {
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topic = sdf->Get<std::string>("topic");
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} else {
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topic = "~/" + sdf->GetAttribute("name")->GetAsString();
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}
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gzmsg << "Initializing rangefinder: " << topic << " sensor=" << sensor->Name()
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<< std::endl;
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// Connect to Gazebo transport for messaging
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std::string scoped_name =
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model->GetWorld()->Name() + "::" + model->GetScopedName();
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boost::replace_all(scoped_name, "::", "/");
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node = gazebo::transport::NodePtr(new gazebo::transport::Node());
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node->Init(scoped_name);
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pub = node->Advertise<gazebo::msgs::Float64>(topic);
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// Connect to the world update event.
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// This will trigger the Update function every Gazebo iteration
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updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
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boost::bind(&Rangefinder::Update, this, _1));
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}
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void Rangefinder::Update(const gazebo::common::UpdateInfo& info) {
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gazebo::msgs::Float64 msg;
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msg.set_data(sensor->Range());
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pub->Publish(msg);
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}
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