62 lines
1.8 KiB
C++
62 lines
1.8 KiB
C++
/*
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* Copyright (C) 2015 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 <iostream>
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#include <math.h>
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#include <ignition/math/Pose3.hh>
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#include "gazebo/gazebo.hh"
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#include "gazebo/common/common.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/transport/transport.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/msgs/msgs.hh"
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using namespace gazebo;
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int main(int _argc, char *_argv[])
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{
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msgs::PoseAnimation msg;
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msg.set_model_name("box");
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msgs::Pose *p = msg.add_pose();
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msgs::Set(p, ignition::math::Pose3d(5, 5, 0, 0, 0, 0));
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p = msg.add_pose();
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msgs::Set(p, ignition::math::Pose3d(5, -5, 0, 0, 0, 0));
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p = msg.add_pose();
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msgs::Set(p, ignition::math::Pose3d(0, 0, 0, 0, 0, 0));
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transport::init();
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transport::run();
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transport::NodePtr node(new gazebo::transport::Node());
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node->Init("default");
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// modelmove_world is the name of the testing world
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const std::string topicName = "/gazebo/modelmove_world/" + msg.model_name()
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+ "/model_move";
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gazebo::transport::PublisherPtr pathPub =
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node->Advertise<msgs::PoseAnimation>(topicName);
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std::cout << "Waiting for connection in " << topicName << std::endl;
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pathPub->WaitForConnection();
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pathPub->Publish(msg);
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std::cout << "Path published!" << std::endl;
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gazebo::transport::fini();
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return 0;
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}
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