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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
59 lines
2.0 KiB
C++
59 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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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#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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#include "rangefinder.h"
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#include <gazebo/physics/physics.hh>
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#include <gazebo/transport/transport.hh>
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#include <gazebo/sensors/sensors.hh>
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#include <boost/pointer_cast.hpp>
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GZ_REGISTER_MODEL_PLUGIN(Rangefinder)
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Rangefinder::Rangefinder() {}
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Rangefinder::~Rangefinder() {}
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void Rangefinder::Load(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 = boost::dynamic_pointer_cast<sensors::SonarSensor>(
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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->GetName() << std::endl;
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// Connect to Gazebo transport for messaging
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std::string scoped_name = model->GetWorld()->GetName()+"::"+model->GetScopedName();
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boost::replace_all(scoped_name, "::", "/");
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node = transport::NodePtr(new transport::Node());
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node->Init(scoped_name);
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pub = node->Advertise<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 = event::Events::ConnectWorldUpdateBegin(boost::bind(&Rangefinder::Update, this, _1));
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}
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void Rangefinder::Update(const common::UpdateInfo &info) {
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msgs::Float64 msg;
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msg.set_data(sensor->GetRange());
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pub->Publish(msg);
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}
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