Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[ros2] Port hand of god to ROS2 #957

Merged
merged 2 commits into from
Aug 2, 2019
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view

This file was deleted.

204 changes: 0 additions & 204 deletions .ros1_unported/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp

This file was deleted.

15 changes: 15 additions & 0 deletions gazebo_plugins/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -201,6 +201,20 @@ target_link_libraries(gazebo_ros_harness
)
ament_export_libraries(gazebo_ros_harness)

# gazebo_ros_hand_of_god
add_library(gazebo_ros_hand_of_god SHARED
src/gazebo_ros_hand_of_god.cpp
)
ament_target_dependencies(gazebo_ros_hand_of_god
"gazebo_ros"
"gazebo_dev"
"rclcpp"
"tf2"
"tf2_geometry_msgs"
"tf2_ros"
)
ament_export_libraries(gazebo_ros_hand_of_god)

# gazebo_ros_ackermann_drive
add_library(gazebo_ros_ackermann_drive SHARED
src/gazebo_ros_ackermann_drive.cpp
Expand Down Expand Up @@ -282,6 +296,7 @@ install(TARGETS
gazebo_ros_elevator
gazebo_ros_force
gazebo_ros_ft_sensor
gazebo_ros_hand_of_god
gazebo_ros_harness
gazebo_ros_imu_sensor
gazebo_ros_joint_state_publisher
Expand Down
73 changes: 73 additions & 0 deletions gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.hpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,73 @@
// 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.

#ifndef GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_
#define GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_

#include <gazebo/common/Plugin.hh>

#include <memory>

namespace gazebo_plugins
{
class GazeboRosHandOfGodPrivate;

/// Drives a floating object around based on the location of a TF frame.
/// It is useful for connecting human input
shiveshkhaitan marked this conversation as resolved.
Show resolved Hide resolved
/**
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();

/// Destructor
~GazeboRosHandOfGod();

protected:
// Documentation inherited
void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override;

private:
/// Private data pointer
std::unique_ptr<GazeboRosHandOfGodPrivate> impl_;
};
} // namespace gazebo_plugins

#endif // GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_
Loading