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48 lines
1.1 KiB
48 lines
1.1 KiB
#ifndef _GAZEBO_IRLOCK_PLUGIN_HH_
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#define _GAZEBO_IRLOCK_PLUGIN_HH_
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#include <string>
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/sensors/LogicalCameraSensor.hh"
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#include "gazebo/gazebo.hh"
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#include "gazebo/common/common.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 <common.h>
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#include "IRLock.pb.h"
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#include <iostream>
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using namespace std;
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namespace gazebo
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{
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class GAZEBO_VISIBLE IRLockPlugin : public SensorPlugin
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{
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public:
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IRLockPlugin();
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virtual ~IRLockPlugin();
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virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
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virtual void OnUpdated();
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protected:
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sensors::LogicalCameraSensorPtr camera;
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physics::WorldPtr world;
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physics::ModelPtr model_;
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private:
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event::ConnectionPtr updateConnection;
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transport::PublisherPtr irlock_pub_;
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transport::NodePtr node_handle_;
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sensor_msgs::msgs::IRLock irlock_message;
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std::string namespace_;
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std::string model_name_;
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std::string beacon_name_;
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};
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}
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#endif
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