75 lines
2.3 KiB
C++
75 lines
2.3 KiB
C++
/*
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* Copyright (C) 2018 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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/// \brief This file contains a gazebo plugin for the ContainPlugin tutorial.
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/// Doxygen comments and PIMPL are omitted to reduce the amount of text.
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/World.hh"
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#include "gazebo/transport/Node.hh"
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namespace gazebo
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{
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class TurnOnLightPlugin : public WorldPlugin
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{
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public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) override
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{
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gzmsg << "Loading Example plugin\n";
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// Transport initialization
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this->gzNode = transport::NodePtr(new transport::Node());
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this->gzNode->Init();
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// Subscribe to ContainPlugin output
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std::string topic("~/contain_example/contain");
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this->containSub = this->gzNode->Subscribe(
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topic, &TurnOnLightPlugin::OnContainPluginMsg, this);
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if (!containSub)
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{
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gzerr << "Failed to subscribe to [" << topic << "]\n";
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}
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// Make a publisher for the light topic
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this->lightPub = this->gzNode->Advertise<msgs::Light>("~/light/modify");
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}
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public: void OnContainPluginMsg(ConstIntPtr &_msg)
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{
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msgs::Light lightMsg;
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lightMsg.set_name("post_light");
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// Turn light on when the entity enters the box, and off when it leaves
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if (1 == _msg->data())
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{
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gzmsg << "Turning on light\n";
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lightMsg.set_range(15.0);
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}
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else
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{
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gzmsg << "Turning off light\n";
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lightMsg.set_range(0.0);
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}
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this->lightPub->Publish(lightMsg);
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}
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private: transport::NodePtr gzNode;
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private: transport::SubscriberPtr containSub;
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private: transport::PublisherPtr lightPub;
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};
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GZ_REGISTER_WORLD_PLUGIN(TurnOnLightPlugin);
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} // namespace gazebo
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