78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
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/*
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* Copyright (C) 2012 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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#ifndef _GAZEBO_SkidSteerDrive_PLUGIN_HH_
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#define _GAZEBO_SkidSteerDrive_PLUGIN_HH_
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#include <string>
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/util/system.hh"
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#define NUMBER_OF_WHEELS 4
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namespace gazebo
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{
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// \class SkidSteerDrivePlugin SkidSteerDrivePlugin.hh
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/// \brief A gazebo model plugin that controls a four wheel skid-steer
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/// robot via a gazebo topic. See the Pioneer3AT model in the
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/// OSRF model database for an example use case.
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class GAZEBO_VISIBLE SkidSteerDrivePlugin : public ModelPlugin
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{
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/// \brief Default Contstuctor
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public: SkidSteerDrivePlugin();
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/// \brief Called when the plugin is loaded
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/// \param[in] _model Pointer to the model for which the plugin is loaded
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/// \param[in] _sdf Pointer to the SDF for _model
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public: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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/// \def ID for each of the four wheels
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public: enum {RIGHT_FRONT, RIGHT_REAR, LEFT_FRONT, LEFT_REAR};
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/// \brief Associates a joint to each of the wheels
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/// \param[in] _index Internal wheel index (Zero based)
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/// \param[in] _name Name wheel joint
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/// \return {0: Success, else: Error}
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private: int RegisterJoint(int _index, const std::string &_name);
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/// \brief Callback for gazebo topic
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/// \param[in] _msg Pose message from external publisher
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private: void OnVelMsg(ConstPosePtr &_msg);
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/// \brief Node for subscriber
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private: transport::NodePtr node;
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/// \brief Gazebo topic subscriber
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private: transport::SubscriberPtr velSub;
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/// \brief Pointer to the model which this plugin is attached
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private: physics::ModelPtr model;
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/// \brief Pointer to each wheel joint
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private: physics::JointPtr joints[NUMBER_OF_WHEELS];
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/// \brief Distance between wheels on the same axis (Determined from SDF)
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private: double wheelSeparation;
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/// \brief Radius of the wheels (Determined from SDF)
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private: double wheelRadius;
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};
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}
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#endif
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