mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
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
55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
#pragma once
|
|
|
|
#include <simulation/gz_msgs/msgs.h>
|
|
|
|
#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.
|
|
};
|