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