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97 lines
3.3 KiB
97 lines
3.3 KiB
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @brief Groundtruth Plugin
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*
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* This plugin gets and publishes ground-truth data
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*
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* @author Nuno Marques <nuno.marques@dronesolutions.io>
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*/
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#ifndef _GAZEBO_GROUNDTRUTH_PLUGIN_HH_
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#define _GAZEBO_GROUNDTRUTH_PLUGIN_HH_
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#include <math.h>
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#include <cstdio>
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#include <cstdlib>
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#include <queue>
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#include <random>
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#include <sdf/sdf.hh>
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#include <common.h>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/gazebo.hh>
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#include <gazebo/util/system.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/physics/physics.hh>
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#include <ignition/math.hh>
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#include <Groundtruth.pb.h>
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namespace gazebo
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{
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class GAZEBO_VISIBLE GroundtruthPlugin : public ModelPlugin
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{
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public:
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GroundtruthPlugin();
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virtual ~GroundtruthPlugin();
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protected:
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virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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virtual void OnUpdate(const common::UpdateInfo& /*_info*/);
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private:
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std::string namespace_;
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physics::ModelPtr model_;
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physics::WorldPtr world_;
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event::ConnectionPtr updateConnection_;
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transport::NodePtr node_handle_;
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transport::PublisherPtr gt_pub_;
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// Home defaults to Zurich Irchel Park
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// @note The home position can be specified using the environment variables:
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// PX4_HOME_LAT, PX4_HOME_LON, and PX4_HOME_ALT
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double lat_home_ = kDefaultHomeLatitude;
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double lon_home_ = kDefaultHomeLongitude;
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double alt_home_ = kDefaultHomeAltitude;
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double world_latitude_ = 0.0;
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double world_longitude_ = 0.0;
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double world_altitude_ = 0.0;
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}; // class GAZEBO_VISIBLE GroundtruthPlugin
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} // namespace gazebo
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#endif // _GAZEBO_GROUNDTRUTH_PLUGIN_HH_
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