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[ros2] Port hand of god to ROS2 (#957)
* [ros2] Port hand of god to ROS2 * Minor fixes
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.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h
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.ros1_unported/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp
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gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.hpp
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// Copyright 2019 Open Source Robotics Foundation | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_ | ||
#define GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_ | ||
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#include <gazebo/common/Plugin.hh> | ||
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#include <memory> | ||
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namespace gazebo_plugins | ||
{ | ||
class GazeboRosHandOfGodPrivate; | ||
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/// Drives a floating object around based on the location of a TF frame. | ||
/// It is useful for connecting human input | ||
/** | ||
Example Usage: | ||
\code{.xml} | ||
<plugin name="gazebo_ros_hand_of_god" filename="libgazebo_ros_hand_of_god.so"> | ||
<ros> | ||
<!-- Add a namespace --> | ||
<namespace>/demo</namespace> | ||
</ros> | ||
<!-- This is required --> | ||
<link_name>link</link_name> | ||
<!-- Defaults to world --> | ||
<!-- The plugin expects TF `frame_id` + "_desired" and broadcasts `frame_id` + "_actual" --> | ||
<frame_id>link</frame_id> | ||
<!-- Set force and torque gains --> | ||
<ka>200</ka> | ||
<kl>200</kl> | ||
</plugin> | ||
\endcode | ||
*/ | ||
class GazeboRosHandOfGod : public gazebo::ModelPlugin | ||
{ | ||
public: | ||
/// Constructor | ||
GazeboRosHandOfGod(); | ||
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/// Destructor | ||
~GazeboRosHandOfGod(); | ||
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protected: | ||
// Documentation inherited | ||
void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override; | ||
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private: | ||
/// Private data pointer | ||
std::unique_ptr<GazeboRosHandOfGodPrivate> impl_; | ||
}; | ||
} // namespace gazebo_plugins | ||
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#endif // GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_ |
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