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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.
96 lines
3.0 KiB
C++
96 lines
3.0 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 <gazebo/physics/physics.hh>
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#include <gazebo/transport/transport.hh>
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#include "simulation/gz_msgs/msgs.h"
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/// \brief The axis about which to measure rotation.
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typedef enum { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ } ROTATION;
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/**
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* \brief Plugin for reading the speed and relative angle of a link.
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*
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* This plugin publishes the angle since last reset and the speed
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* which a link is rotating about some axis to subtopics of the given
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* topic every physics update. There is also a control topic that
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* takes one command: "reset", which sets the current angle as zero.
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*
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* To add a gyro to your robot, add the following XML to your robot
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* model:
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*
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* <plugin name="my_gyro" filename="libgyro.so">
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* <link>Joint Name</link>
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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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* - `link`: Name of the link this potentiometer is attached to.
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* - `topic`: Optional. Used as the root for subtopics. `topic`/position
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* (gazebo.msgs.Float64),
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* `topic`/velocity (gazebo.msgs.Float64), `topic`/control
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* (gazebo.msgs.String)
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* - `units`; Optional, defaults to radians.
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*/
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class Gyro : public gazebo::ModelPlugin {
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public:
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/// \brief Load the gyro 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 gyro 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 gyro measures radians or degrees.
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bool radians;
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/// \brief The axis to measure rotation about.
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ROTATION axis;
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/// \brief The zero value of the gyro.
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double zero;
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/// \brief The link that this gyro measures
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gazebo::physics::LinkPtr link;
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/// \brief Callback for handling control data
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void Callback(const gazebo::msgs::ConstStringPtr& msg);
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/// \brief Gets the current angle, taking into account whether to
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/// return radians or degrees.
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double GetAngle();
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/// \brief Gets the current velocity, taking into account whether to
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/// return radians/second or degrees/second.
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double GetVelocity();
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/// \brief Limit the value to either [-180,180] or [-PI,PI]
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/// depending on whether or radians or degrees are being used.
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double Limit(double value);
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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 Subscriber handle.
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gazebo::transport::SubscriberPtr command_sub;
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/// \brief Publisher handles.
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gazebo::transport::PublisherPtr pos_pub, vel_pub;
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};
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