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Visualize height of UAV (both esitamted state and ground truth) in rv…
…iz and modify the config of rviz about task1 and task3
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jsk_mbzirc_tasks/include/jsk_mbzirc_tasks/mbzirc_gazebo_uav_state_display_plugin.h
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| /* | ||
| * Copyright (c) 2016, JSK Robotics Laboratory, The University of Tokyo | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * 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. | ||
| * * Neither the name of the Willow Garage, Inc. 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. | ||
| */ | ||
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|
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| #ifndef JSK_MBZIRC_TASKS_MBZIRC_GAZEBO_UAV_STATE_DISPLAY_PLUGIN_H | ||
| #define JSK_MBZIRC_TASKS_MBZIRC_GAZEBO_UAV_STATE_DISPLAY_PLUGIN_H | ||
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| #include <gazebo/common/Plugin.hh> | ||
| #include <gazebo/common/Time.hh> | ||
| #include <gazebo/math/Quaternion.hh> | ||
| #include <gazebo/common/Events.hh> | ||
| #include <gazebo/physics/physics.hh> | ||
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| // ROS | ||
| #include <ros/ros.h> | ||
| #include <ros/callback_queue.h> | ||
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| #include <nav_msgs/Odometry.h> | ||
| #include <std_msgs/String.h> | ||
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| // Boost | ||
| #include <boost/thread.hpp> | ||
| #include <boost/bind.hpp> | ||
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| #include <cmath> | ||
| #include <string> | ||
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| namespace gazebo | ||
| { | ||
| class GazeboUavState : public ModelPlugin | ||
| { | ||
| public: | ||
| GazeboUavState(); | ||
| virtual ~GazeboUavState(); | ||
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| protected: | ||
| virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); | ||
| virtual void Update(); | ||
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| private: | ||
| ros::NodeHandle* node_handle_; | ||
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| ros::Subscriber state_sub_, ground_truth_sub_; | ||
| ros::Publisher string_state_pub_, string_ground_truth_pub_; | ||
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| ros::CallbackQueue callback_queue_; | ||
| event::ConnectionPtr update_connection_; | ||
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| physics::WorldPtr world_; | ||
| physics::LinkPtr link_; | ||
| std::string link_name_; | ||
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| std::string state_topic_, ground_truth_topic_; | ||
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| // parameters | ||
| std::string robot_name_space_; | ||
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| void stateCallback(const nav_msgs::OdometryConstPtr&); | ||
| void groundTruthCallback(const nav_msgs::OdometryConstPtr&); | ||
| }; | ||
| } // namespace gazebo | ||
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| #endif // JSK_MBZIRC_TASKS_MBZIRC_GAZEBO_UAV_STATE_DISPLAY_PLUGIN_H |
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