83 lines
2.4 KiB
C++
83 lines
2.4 KiB
C++
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <boost/bind.hpp>
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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 "plugins/HydraDemoPlugin.hh"
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using namespace gazebo;
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GZ_REGISTER_MODEL_PLUGIN(HydraDemoPlugin)
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/////////////////////////////////////////////////
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HydraDemoPlugin::HydraDemoPlugin()
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{
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}
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/////////////////////////////////////////////////
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HydraDemoPlugin::~HydraDemoPlugin()
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{
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}
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/////////////////////////////////////////////////
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void HydraDemoPlugin::OnHydra(ConstHydraPtr &_msg)
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{
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boost::mutex::scoped_lock lock(this->msgMutex);
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this->hydraMsgPtr = _msg;
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}
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/////////////////////////////////////////////////
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void HydraDemoPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
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{
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// Get the world name.
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this->model = _parent;
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this->world = this->model->GetWorld();
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// Subscribe to Hydra updates by registering OnHydra() callback.
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this->node = transport::NodePtr(new transport::Node());
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this->node->Init(this->world->GetName());
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this->hydraSub = this->node->Subscribe("~/hydra",
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&HydraDemoPlugin::OnHydra, this);
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// Listen to the update event. This event is broadcast every
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// simulation iteration.
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this->updateConnection = event::Events::ConnectWorldUpdateBegin(
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boost::bind(&HydraDemoPlugin::Update, this, _1));
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}
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/////////////////////////////////////////////////
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void HydraDemoPlugin::Update(const common::UpdateInfo & /*_info*/)
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{
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boost::mutex::scoped_lock lock(this->msgMutex);
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// Return if we don't have messages yet
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if (!this->hydraMsgPtr)
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return;
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// Read the value of the right joystick.
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double joyX = this->hydraMsgPtr->right().joy_x();
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double joyY = this->hydraMsgPtr->right().joy_y();
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// Move the model.
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this->model->SetLinearVel(math::Vector3(-joyX * 0.2, joyY * 0.2, 0));
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// Remove the message that has been processed.
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this->hydraMsgPtr.reset();
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}
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