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94 lines
2.9 KiB
94 lines
2.9 KiB
/*
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* Copyright 2015 Aurelien Roy
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*
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* This file is a modified version of github.com/AurelienRoy/ardupilot_sitl_gazebo_plugin.git
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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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* @brief Parachute Plugin
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*
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* This plugin simulates parachute deployment
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*
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* @author Aurelien Roy <aurroy@hotmail.com>
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*/
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#ifndef _GAZEBO_PARACHUTE_PLUGIN_HH_
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#define _GAZEBO_PARACHUTE_PLUGIN_HH_
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#include <math.h>
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#include <common.h>
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#include <sdf/sdf.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/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 "CommandMotorSpeed.pb.h"
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#include <Odometry.pb.h>
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namespace gazebo
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{
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typedef const boost::shared_ptr<const mav_msgs::msgs::CommandMotorSpeed> CommandMotorSpeedPtr;
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class GAZEBO_VISIBLE ParachutePlugin : public ModelPlugin
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{
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public:
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ParachutePlugin();
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virtual ~ParachutePlugin();
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void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
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void OnUpdate(const common::UpdateInfo&);
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physics::ModelPtr GetModelPtr(std::string model_name);
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private:
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/// \brief Loads parachute model
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void LoadParachute();
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/// \brief Attach the parachute to the model
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/// \param parachute_model Parachute model to attach to the vehicle
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void AttachParachute(physics::ModelPtr ¶chute_model);
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/// \brief Callback for subscribing to motor commands
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/// \param rot_velocities Motor command velocity commanded from firmware
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void VelocityCallback(CommandMotorSpeedPtr &rot_velocities);
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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 update_connection_;
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bool attached_parachute_ = false; ///< Check if the parachute has already been attached to the model
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double max_rot_velocity_ = 3500; ///< Clip maximum motor velocity
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double ref_motor_rot_vel_ = 0; ///< Reference motor velocity
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double terminate_rot_vel_ = -1700; ///< Motor velocity command in flight termination step
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int motor_number_;
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std::string trigger_sub_topic_ = "/gazebo/command/motor_speed"; ///< Parachute trigger signal topic
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transport::NodePtr node_handle_;
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transport::SubscriberPtr trigger_sub_;
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}; // class GAZEBO_VISIBLE ParachutePlugin
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} // namespace gazebo
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#endif // _GAZEBO_PARACHUTE_PLUGIN_HH_
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