61 lines
1.6 KiB
C++
61 lines
1.6 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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#include <gazebo/gazebo_client.hh>
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#include <gazebo/transport/transport.hh>
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#include <gazebo/msgs/msgs.hh>
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#include <gazebo/math/gzmath.hh>
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#include <iostream>
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/////////////////////////////////////////////////
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int main(int _argc, char **_argv)
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{
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// Load gazebo
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gazebo::client::setup(_argc, _argv);
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// Create our node for communication
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gazebo::transport::NodePtr node(new gazebo::transport::Node());
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node->Init();
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// Publish to a Gazebo topic
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gazebo::transport::PublisherPtr pub =
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node->Advertise<gazebo::msgs::Pose>("~/pose_example");
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// Wait for a subscriber to connect
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pub->WaitForConnection();
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// Publisher loop...replace with your own code.
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while (true)
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{
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// Throttle Publication
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gazebo::common::Time::MSleep(100);
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// Generate a pose
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ignition::math::Pose3d pose(1, 2, 3, 4, 5, 6);
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// Convert to a pose message
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gazebo::msgs::Pose msg;
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gazebo::msgs::Set(&msg, pose);
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pub->Publish(msg);
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}
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// Make sure to shut everything down.
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gazebo::client::shutdown();
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}
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