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https://github.com/wpilibsuite/allwpilib
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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.
57 lines
1.7 KiB
C++
57 lines
1.7 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 "simulation/gz_msgs/msgs.h"
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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="librangefinder.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 gazebo::ModelPlugin {
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public:
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/// \brief Load the rangefinder 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 rangefinder 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 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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gazebo::sensors::SonarSensorPtr sensor;
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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 Publisher handle.
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gazebo::transport::PublisherPtr pub;
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};
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