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https://github.com/wpilibsuite/allwpilib
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8ae64a12ea
Pneumatics still have CAN modules. The refactored code is now eight plugins for sensors and actuators. There is some code reuse that should be refactored out, but that level of abstraction will wait until we figure out how these plugins are integrating with gazebo proper. Change-Id: I357e695ef05af6dda83a39ba60380686bd57d11a Closes: artf2610, artf2623
79 lines
2.3 KiB
C++
79 lines
2.3 KiB
C++
#pragma once
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#include <gazebo/gazebo.hh>
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#include "switch.h"
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using namespace gazebo;
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/**
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* \brief Plugin for reading limit switches.
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*
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* This plugin publishes whether or not the limit switch has been
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* triggered every physics update. There are two types of limit switches:
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*
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* - Internal: Measure joint limits. Triggerd if the joint is within
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* some range.
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* - External: Measure interactions with the outside world. Triggerd
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* if some link is in collision.
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*
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* To add a limit swithch to your robot, add the following XML to your
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* robot model.
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*
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* Internal:
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*
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* <plugin name="my_limit_switch" filename="libgz_limit_switch.so">
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* <topic>~/my/topic</topic>
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* <type>internal</type>
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* <joint>Joint Name</joint>
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* <units>{degrees, radians}</units>
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* <min>Number</min>
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* <max>Number</max>
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* </plugin>
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*
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* External:
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*
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* <plugin name="my_limit_switch" filename="libgz_limit_switch.so">
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* <topic>~/my/topic</topic>
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* <type>external</type>
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* <sensor>Sensor Name</sensor>
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* </plugin>
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*
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* Common:
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* - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
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* - `type`: Required. The type of limit switch that this is
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*
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* Internal
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* - `joint`: Name of the joint this potentiometer is attached to.
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* - `units`: Optional. Defaults to radians.
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* - `min`: Minimum angle considered triggered.
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* - `max`: Maximum angle considered triggered.
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*
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* External
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* - `sensor`: Name of the contact sensor that this limit switch uses.
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*/
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class LimitSwitch: public ModelPlugin {
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public:
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LimitSwitch();
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~LimitSwitch();
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/// \brief Load the limit switch 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 limit switch 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 limit switch value on this topic.
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std::string topic;
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/// \brief LimitSwitch object, currently internal or external.
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Switch* ls;
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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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