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90 lines
3.0 KiB
90 lines
3.0 KiB
/*
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* Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
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* Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
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* Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
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* Copyright 2015 Janosch Nikolic, ASL, ETH Zurich, Switzerland
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* Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
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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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* 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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#include <boost/bind.hpp>
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#include <Eigen/Eigen>
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#include <gazebo/common/common.hh>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/gazebo.hh>
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#include <gazebo/physics/physics.hh>
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#include "CommandMotorSpeed.pb.h"
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#include "MotorSpeed.pb.h"
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#include "gazebo/transport/transport.hh"
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#include "gazebo/msgs/msgs.hh"
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#include <ignition/math.hh>
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#include <stdio.h>
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#include "common.h"
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namespace gazebo {
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typedef const boost::shared_ptr<const mav_msgs::msgs::CommandMotorSpeed> CommandMotorSpeedPtr;
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typedef const boost::shared_ptr<const mav_msgs::msgs::MotorSpeed> MotorSpeedPtr;
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// Default values
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static const std::string kDefaultNamespace = "";
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// This just proxies the motor commands from command/motor_speed to the single motors via internal
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// ConsPtr passing, such that the original commands don't have to go n_motors-times over the wire.
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static const std::string kDefaultMotorVelocityReferencePubTopic = "/gazebo/command/motor_speed";
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static const std::string kDefaultCommandMotorSpeedSubTopic = "/command/motor_speed";
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class GazeboControllerInterface : public ModelPlugin {
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public:
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GazeboControllerInterface()
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: ModelPlugin(),
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received_first_referenc_(false),
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namespace_(kDefaultNamespace),
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motor_velocity_reference_pub_topic_(kDefaultMotorVelocityReferencePubTopic),
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command_motor_speed_sub_topic_(kDefaultCommandMotorSpeedSubTopic) {}
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~GazeboControllerInterface();
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void InitializeParams();
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void Publish();
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protected:
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void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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void OnUpdate(const common::UpdateInfo& /*_info*/);
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private:
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bool received_first_referenc_;
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Eigen::VectorXd input_reference_;
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std::string namespace_;
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std::string motor_velocity_reference_pub_topic_;
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std::string command_motor_speed_sub_topic_;
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transport::NodePtr node_handle_;
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transport::PublisherPtr motor_velocity_reference_pub_;
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transport::SubscriberPtr cmd_motor_sub_;
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physics::ModelPtr model_;
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physics::WorldPtr world_;
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/// \brief Pointer to the update event connection.
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event::ConnectionPtr updateConnection_;
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boost::thread callback_queue_thread_;
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void QueueThread();
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void CommandMotorCallback(CommandMotorSpeedPtr &input_reference_msg);
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};
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}
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