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 * modification, are permitted provided that the following conditions
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 *    used to endorse or promote products derived from this software
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/**
 * @brief Groundtruth Plugin
 *
 * This plugin gets and publishes ground-truth data
 *
 * @author Nuno Marques <nuno.marques@dronesolutions.io>
 */

#ifndef _GAZEBO_GROUNDTRUTH_PLUGIN_HH_
#define _GAZEBO_GROUNDTRUTH_PLUGIN_HH_

#include <math.h>
#include <cstdio>
#include <cstdlib>
#include <queue>
#include <random>

#include <sdf/sdf.hh>
#include <common.h>

#include <gazebo/common/Plugin.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/util/system.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/physics/physics.hh>
#include <ignition/math.hh>

#include <Groundtruth.pb.h>

namespace gazebo
{

class GAZEBO_VISIBLE GroundtruthPlugin : public ModelPlugin
{
public:
  GroundtruthPlugin();
  virtual ~GroundtruthPlugin();

protected:
  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
  virtual void OnUpdate(const common::UpdateInfo& /*_info*/);

private:
  std::string namespace_;
  physics::ModelPtr model_;
  physics::WorldPtr world_;
  event::ConnectionPtr updateConnection_;

  transport::NodePtr node_handle_;
  transport::PublisherPtr gt_pub_;

  // Home defaults to Zurich Irchel Park
  // @note The home position can be specified using the environment variables:
  // PX4_HOME_LAT, PX4_HOME_LON, and PX4_HOME_ALT
  double lat_home_ = kDefaultHomeLatitude;
  double lon_home_ = kDefaultHomeLongitude;
  double alt_home_ = kDefaultHomeAltitude;
  double world_latitude_ = 0.0;
  double world_longitude_ = 0.0;
  double world_altitude_ = 0.0;

};     // class GAZEBO_VISIBLE GroundtruthPlugin
}      // namespace gazebo
#endif // _GAZEBO_GROUNDTRUTH_PLUGIN_HH_