111 lines
3.8 KiB
C++
111 lines
3.8 KiB
C++
/*
|
|
* Copyright (C) 2017 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
#ifndef GAZEBO_PLUGINS_TOUCHPLUGIN_HH_
|
|
#define GAZEBO_PLUGINS_TOUCHPLUGIN_HH_
|
|
|
|
#include <string>
|
|
#include <vector>
|
|
#include <gazebo/common/Events.hh>
|
|
#include <gazebo/common/Plugin.hh>
|
|
#include <gazebo/sensors/ContactSensor.hh>
|
|
#include <gazebo/transport/Node.hh>
|
|
#include <sdf/sdf.hh>
|
|
|
|
namespace gazebo
|
|
{
|
|
/// \brief Plugin which checks if this model has touched some specific target
|
|
/// for a given time continuously and exclusively. After the touch is
|
|
/// completed, the plugin is disabled. It can be re-enabled through a Gazebo
|
|
/// transport topic.
|
|
///
|
|
/// It requires that contact sensors be placed in at least one link on this
|
|
/// model.
|
|
///
|
|
/// Parameters:
|
|
///
|
|
/// <sensor> Name of contact sensor attached to one of this model's links.
|
|
/// There can be multiple sensor elements in case many links are
|
|
/// checked.
|
|
///
|
|
/// <target> Scoped name of collision which we want to be touching. This can
|
|
/// be a substring of the desired collision name so we match more
|
|
/// than one collision. For example, using the name of a model will
|
|
/// match all its collisions.
|
|
///
|
|
/// <time> Target time in seconds to maintain contact.
|
|
///
|
|
/// <namespace> Namespace for transport topics:
|
|
/// /<namespace>/enable : Topic used to enable and disable the
|
|
/// plugin.
|
|
/// /<namespace>/touched : Topic where a message is published once
|
|
/// the touch is complete.
|
|
///
|
|
/// <enabled> Set this to true so the plugin works from the start and doesn't
|
|
/// need to be enabled.
|
|
///
|
|
class GAZEBO_VISIBLE TouchPlugin : public ModelPlugin
|
|
{
|
|
/// \brief Constructor
|
|
public: TouchPlugin();
|
|
|
|
// Documentation inherited
|
|
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
|
|
|
|
/// \brief Callback for enable "service".
|
|
/// \param[in] _msg Message with 0 to disable and 1 to enable the plugin.
|
|
public: void Enable(ConstIntPtr &_msg);
|
|
|
|
/// \brief Update plugin's function.
|
|
/// \_param[in] _info Information about world.
|
|
private: void OnUpdate(const common::UpdateInfo &_info);
|
|
|
|
/// \brief Contact sensors attached to links in the model
|
|
private: std::vector<sensors::ContactSensorPtr> contactSensors;
|
|
|
|
/// \brief Name of this model, to be used to check collisions against
|
|
private: std::string modelName;
|
|
|
|
/// \brief Target collisions which this model should be touching. This can
|
|
/// be a substring shared by several collisions.
|
|
private: std::string target;
|
|
|
|
/// \brief Namespace for transport topics.
|
|
private: std::string ns;
|
|
|
|
/// \brief Target time to continuously touch.
|
|
private: common::Time targetTime = 5;
|
|
|
|
/// \brief Time when started touching.
|
|
private: common::Time touchStart;
|
|
|
|
/// \brief Gazebo transport node for communication.
|
|
private: transport::NodePtr gzNode;
|
|
|
|
/// \brief Publisher which publishes a message after touched for enough time
|
|
private: transport::PublisherPtr touchedPub;
|
|
|
|
/// \brief Subscriber to enable messages.
|
|
private: transport::SubscriberPtr enableSub;
|
|
|
|
/// \brief Connection to World Update events.
|
|
private: event::ConnectionPtr updateConnection;
|
|
};
|
|
}
|
|
|
|
#endif
|
|
|