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88 lines
2.6 KiB
88 lines
2.6 KiB
/*
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* Copyright (C) 2012-2014 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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/*
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* Desc: Lidar Plugin
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* Author: Nate Koenig mod by John Hsu
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*/
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#ifndef _GAZEBO_LIDAR_PLUGIN_HH_
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#define _GAZEBO_LIDAR_PLUGIN_HH_
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#include <gazebo/gazebo.hh>
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#include <gazebo/common/common.hh>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/util/system.hh>
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#include "gazebo/physics/physics.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/sensors/SensorTypes.hh>
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#include <gazebo/sensors/RaySensor.hh>
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#include <common.h>
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#include <Range.pb.h>
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namespace gazebo
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{
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static constexpr double kSensorMinDistance = 0.06; // values smaller than that cause issues
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static constexpr double kSensorMaxDistance = 35.0; // values bigger than that cause issues
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static constexpr double kDefaultMinDistance = 0.2;
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static constexpr double kDefaultMaxDistance = 15.0;
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static constexpr double kDefaultFOV = 0.0523598776; // standard 3 degrees
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/// \brief A Ray Sensor Plugin
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class GAZEBO_VISIBLE LidarPlugin : public SensorPlugin
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{
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/// \brief Constructor
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public: LidarPlugin();
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/// \brief Destructor
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public: virtual ~LidarPlugin();
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/// \brief Update callback
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public: virtual void OnNewLaserScans();
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/// \brief Load the plugin
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/// \param take in SDF root element
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public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
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/// \brief Pointer to parent
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protected: physics::WorldPtr world_;
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/// \brief The parent sensor
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private:
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sensors::RaySensorPtr parentSensor_;
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std::string lidar_topic_;
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transport::NodePtr node_handle_;
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transport::PublisherPtr lidar_pub_;
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std::string namespace_;
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double min_distance_;
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double max_distance_;
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double low_signal_strength_;
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double high_signal_strength_;
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bool simulate_fog_;
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gazebo::msgs::Quaternion orientation_;
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/// \brief The connection tied to LidarPlugin::OnNewLaserScans()
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private:
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event::ConnectionPtr newLaserScansConnection_;
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sensor_msgs::msgs::Range lidar_message_;
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};
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}
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#endif
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