mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
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
53 lines
1.6 KiB
C++
53 lines
1.6 KiB
C++
#pragma once
|
|
|
|
#include <gazebo/gazebo.hh>
|
|
|
|
using namespace gazebo;
|
|
|
|
/**
|
|
* \brief Plugin for reading the angle of a joint.
|
|
*
|
|
* This plugin publishes the angle of a joint to the topic every
|
|
* physics update. Supports reading in either radians or degrees.
|
|
*
|
|
* To add a potentiometer to your robot, add the following XML to your
|
|
* robot model:
|
|
*
|
|
* <plugin name="my_pot" filename="libgz_potentiometer.so">
|
|
* <joint>Joint Name</joint>
|
|
* <topic>~/my/topic</topic>
|
|
* <units>{degrees, radians}</units>
|
|
* </plugin>
|
|
*
|
|
* - `joint`: Name of the joint this potentiometer is attached to.
|
|
* - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
|
|
* - `units`: Optional. Defaults to radians.
|
|
*/
|
|
class Potentiometer: public ModelPlugin {
|
|
public:
|
|
Potentiometer();
|
|
~Potentiometer();
|
|
|
|
/// \brief Load the potentiometer and configures it according to the sdf.
|
|
void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
|
|
|
|
/// \brief Sends out the potentiometer reading each timestep.
|
|
void Update(const common::UpdateInfo &info);
|
|
|
|
private:
|
|
/// \brief Publish the angle on this topic.
|
|
std::string topic;
|
|
|
|
/// \brief Whether or not this potentiometer measures radians or degrees.
|
|
bool radians;
|
|
|
|
/// \brief The joint that this potentiometer measures
|
|
physics::JointPtr joint;
|
|
|
|
|
|
physics::ModelPtr model; ///< \brief The model that this is attached to.
|
|
event::ConnectionPtr updateConn; ///< \brief Pointer to the world update function.
|
|
transport::NodePtr node; ///< \brief The node we're advertising on.
|
|
transport::PublisherPtr pub; ///< \brief Publisher handle.
|
|
};
|