99 lines
2.9 KiB
C++
99 lines
2.9 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 <sstream>
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#include <gazebo/msgs/msgs.hh>
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#include "GUIExampleSpawnWidget.hh"
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using namespace gazebo;
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// Register this plugin with the simulator
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GZ_REGISTER_GUI_PLUGIN(GUIExampleSpawnWidget)
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/////////////////////////////////////////////////
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GUIExampleSpawnWidget::GUIExampleSpawnWidget()
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: GUIPlugin()
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{
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this->counter = 0;
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// Set the frame background and foreground colors
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this->setStyleSheet(
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"QFrame { background-color : rgba(100, 100, 100, 255); color : white; }");
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// Create the main layout
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QHBoxLayout *mainLayout = new QHBoxLayout;
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// Create the frame to hold all the widgets
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QFrame *mainFrame = new QFrame();
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// Create the layout that sits inside the frame
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QVBoxLayout *frameLayout = new QVBoxLayout();
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// Create a push button, and connect it to the OnButton function
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QPushButton *button = new QPushButton(tr("Spawn Sphere"));
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connect(button, SIGNAL(clicked()), this, SLOT(OnButton()));
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// Add the button to the frame's layout
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frameLayout->addWidget(button);
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// Add frameLayout to the frame
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mainFrame->setLayout(frameLayout);
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// Add the frame to the main layout
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mainLayout->addWidget(mainFrame);
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// Remove margins to reduce space
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frameLayout->setContentsMargins(0, 0, 0, 0);
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mainLayout->setContentsMargins(0, 0, 0, 0);
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this->setLayout(mainLayout);
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// Position and resize this widget
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this->move(10, 10);
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this->resize(120, 30);
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// Create a node for transportation
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this->node = transport::NodePtr(new transport::Node());
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this->node->Init();
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this->factoryPub = this->node->Advertise<msgs::Factory>("~/factory");
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}
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/////////////////////////////////////////////////
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GUIExampleSpawnWidget::~GUIExampleSpawnWidget()
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{
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}
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/////////////////////////////////////////////////
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void GUIExampleSpawnWidget::OnButton()
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{
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msgs::Model model;
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model.set_name("plugin_unit_sphere_" + std::to_string(this->counter++));
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msgs::Set(model.mutable_pose(), ignition::math::Pose3d(0, 0, 1.5, 0, 0, 0));
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const double mass = 1.0;
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const double radius = 0.5;
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msgs::AddSphereLink(model, mass, radius);
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std::ostringstream newModelStr;
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newModelStr << "<sdf version='" << SDF_VERSION << "'>"
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<< msgs::ModelToSDF(model)->ToString("")
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<< "</sdf>";
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// Send the model to the gazebo server
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msgs::Factory msg;
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msg.set_sdf(newModelStr.str());
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this->factoryPub->Publish(msg);
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}
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