63 lines
2.0 KiB
C++
63 lines
2.0 KiB
C++
/*
|
|
* Copyright (C) 2012 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.
|
|
*
|
|
*/
|
|
#include <gazebo/physics/physics.hh>
|
|
#include <gazebo/gazebo.hh>
|
|
|
|
namespace gazebo
|
|
{
|
|
class ModelVisuals : public ModelPlugin
|
|
{
|
|
public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
|
|
{
|
|
transport::PublisherPtr visPub;
|
|
msgs::Visual visualMsg;
|
|
|
|
this->node = transport::NodePtr(new transport::Node());
|
|
this->node->Init(_parent->GetWorld()->GetName());
|
|
visPub = this->node->Advertise<msgs::Visual>("~/visual", 10);
|
|
|
|
// Set the visual's name. This should be unique.
|
|
visualMsg.set_name("__RED_CYLINDER_VISUAL__");
|
|
|
|
// Set the visual's parent. This visual will be attached to the parent
|
|
visualMsg.set_parent_name(_parent->GetScopedName());
|
|
|
|
// Create a cylinder
|
|
msgs::Geometry *geomMsg = visualMsg.mutable_geometry();
|
|
geomMsg->set_type(msgs::Geometry::CYLINDER);
|
|
geomMsg->mutable_cylinder()->set_radius(1);
|
|
geomMsg->mutable_cylinder()->set_length(.1);
|
|
|
|
// Set the material to be bright red
|
|
visualMsg.mutable_material()->set_script("Gazebo/RedGlow");
|
|
|
|
/// Set the pose of the visual relative to its parent
|
|
msgs::Set(visualMsg.mutable_pose(), math::Pose(0, 0, 0.6, 0, 0, 0));
|
|
|
|
// Don't cast shadows
|
|
visualMsg.set_cast_shadows(false);
|
|
|
|
visPub->Publish(visualMsg);
|
|
}
|
|
|
|
private: transport::NodePtr node;
|
|
};
|
|
|
|
// Register this plugin with the simulator
|
|
GZ_REGISTER_MODEL_PLUGIN(ModelVisuals)
|
|
}
|