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https://github.com/wpilibsuite/allwpilib
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29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
49 lines
1.4 KiB
C++
49 lines
1.4 KiB
C++
#pragma once
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#include <simulation/gz_msgs/msgs.h>
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#include <gazebo/gazebo.hh>
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using namespace gazebo;
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/**
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* \brief Plugin for reading the range of obstacles.
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*
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* This plugin publishes the range of obstacles detected by a sonar
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* rangefinder every physics update.
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*
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* To add a rangefinder 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_rangefinder" filename="libgz_rangefinder.so">
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* <sensor>Sensor Name</sensor>
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* <topic>~/my/topic</topic>
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* </plugin>
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*
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* - `sensor`: Name of the sonar sensor that this rangefinder uses.
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* - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
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*/
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class Rangefinder: public ModelPlugin {
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public:
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Rangefinder();
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~Rangefinder();
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/// \brief Load the rangefinder 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 rangefinder 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 range on this topic.
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std::string topic;
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/// \brief The sonar sensor that this rangefinder uses
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sensors::SonarSensorPtr sensor;
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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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