63 lines
2.0 KiB
C++
63 lines
2.0 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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#include <gazebo/physics/physics.hh>
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#include <gazebo/gazebo.hh>
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namespace gazebo
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{
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class ModelVisuals : public ModelPlugin
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{
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public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
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{
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transport::PublisherPtr visPub;
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msgs::Visual visualMsg;
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this->node = transport::NodePtr(new transport::Node());
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this->node->Init(_parent->GetWorld()->GetName());
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visPub = this->node->Advertise<msgs::Visual>("~/visual", 10);
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// Set the visual's name. This should be unique.
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visualMsg.set_name("__RED_CYLINDER_VISUAL__");
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// Set the visual's parent. This visual will be attached to the parent
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visualMsg.set_parent_name(_parent->GetScopedName());
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// Create a cylinder
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msgs::Geometry *geomMsg = visualMsg.mutable_geometry();
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geomMsg->set_type(msgs::Geometry::CYLINDER);
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geomMsg->mutable_cylinder()->set_radius(1);
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geomMsg->mutable_cylinder()->set_length(.1);
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// Set the material to be bright red
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visualMsg.mutable_material()->set_script("Gazebo/RedGlow");
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/// Set the pose of the visual relative to its parent
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msgs::Set(visualMsg.mutable_pose(), math::Pose(0, 0, 0.6, 0, 0, 0));
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// Don't cast shadows
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visualMsg.set_cast_shadows(false);
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visPub->Publish(visualMsg);
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}
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private: transport::NodePtr node;
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};
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// Register this plugin with the simulator
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GZ_REGISTER_MODEL_PLUGIN(ModelVisuals)
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}
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