////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboTreasure::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
model_ = _model;
world_ = _model->GetWorld();
link_ = _model->GetLink();
link_name_ = link_->GetName();
namespace_.clear();
vel_x = vel_y = vel_yaw = 0;
static_object_ = false;
last_time_ = world_->GetSimTime();
terminated_ = false;
// load parameters from sdf
if (_sdf->HasElement("robotNamespace")) namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
if (_sdf->HasElement("bodyName") && _sdf->GetElement("bodyName")->GetValue())
{
link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
link_ = _model->GetLink(link_name_);
}
if (_sdf->HasElement("staticObject") && _sdf->GetElement("staticObject")->GetValue())
{
static_object_ = _sdf->GetElement("staticObject")->Get<std::string>() == "true"?true:false;
}
// boost::random::mt19937 rng;
boost::random::random_device rng;
boost::random::uniform_int_distribution<> x_rand(-40, 40);
boost::random::uniform_int_distribution<> y_rand(-20, 20);
double x = x_rand(rng);
double y = y_rand(rng);
model_->SetLinkWorldPose(math::Pose(x, y, 0.2, 0, 0, 0), link_);
if (!link)
{
ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
// Make sure the ROS node for Gazebo has already been initialized
if (!ros::isInitialized())
{
ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
<< "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
return;
}
node_handle_ = new ros::NodeHandle(namespace_);
pub_score_ = node_handle_->advertise<std_msgs::String>("score", 1, true); // set latch true
ros::NodeHandle param_handle(*node_handle_, "controller");
update_connection_ = event::Events::ConnectWorldUpdateBegin(
boost::bind(&GazeboTreasure::Update, this));
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboPanel::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
gzwarn << "The GazeboPanel plugin is DEPRECATED in ROS hydro." << std::endl;
model_ = _model;
world_ = _model->GetWorld();
link_ = _model->GetLink();
link_name_ = link_->GetName();
namespace_.clear();
terminated_ = false;
// load parameters from sdf
if (_sdf->HasElement("robotNamespace")) namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
if (_sdf->HasElement("bodyName") && _sdf->GetElement("bodyName")->GetValue())
{
link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
link_ = _model->GetLink(link_name_);
}
if (_sdf->HasElement("jointName") && _sdf->GetElement("jointName")->GetValue())
{
std::string joint_name_ = _sdf->GetElement("jointName")->Get<std::string>();
joint_ = _model->GetJoint(joint_name_);
}
else
{
joint_ = _model->GetJoint("stem_joint");
}
if (!link)
{
ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
// Make sure the ROS node for Gazebo has already been initialized
if (!ros::isInitialized())
{
ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
<< "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
return;
}
node_handle_ = new ros::NodeHandle(namespace_);
pub_score_ = node_handle_->advertise<std_msgs::String>("score", 1, true); // set latch true
pub_time_ = node_handle_->advertise<std_msgs::String>("remaining_time", 1);
ros::NodeHandle param_handle(*node_handle_, "controller");
update_connection_ = event::Events::ConnectWorldUpdateBegin(
boost::bind(&GazeboPanel::Update, this));
}
void Server::initialise(tinyxml2::XMLHandle & handle)
{
static bool first = true;
if (!singleton_server_)
{
name_ = handle.ToElement()->Attribute("name");
std::string ns = name_;
}
tinyxml2::XMLHandle param_handle(handle.FirstChildElement("Parameters"));
tinyxml2::XMLHandle tmp_handle = param_handle.FirstChild();
while (tmp_handle.ToElement())
{
createParam(name_, tmp_handle);
tmp_handle = tmp_handle.NextSibling();
}
if (first)
{
HIGHLIGHT_NAMED(name_, "EXOTica Server Initialised");
first = false;
}
}