void ThrusterTask::setGazeboModel( ModelPtr model )
{
string taskName = "gazebo:" + model->GetWorld()->GetName() + ":" + model->GetName() + ":gazebo_thruster";
provides()->setName(taskName);
_name.set(taskName);
topicName = model->GetName() + "/thrusters";
}
void RockBridge::instantiateSensorComponents(sdf::ElementPtr modelElement, ModelPtr model)
{
sdf::ElementPtr linkElement = modelElement->GetElement("link");
while( linkElement ){
sdf::ElementPtr sensorElement = linkElement->GetElement("sensor");
while( sensorElement ){
string sensorName = sensorElement->Get<string>("name");
string sensorType = sensorElement->Get<string>("type");
// To support more sensors, test for different sensors types
if( sensorType == "ray" )
{
gzmsg << "RockBridge: creating laser line component: " + sensorName << endl;
LaserScanTask* laser_line_task = new LaserScanTask();
string topicName = model->GetName() + "/" + linkElement->Get<string>("name") + "/" + sensorName + "/scan";
laser_line_task->setGazeboModel( model, sensorName, topicName );
setupTaskActivity( laser_line_task );
}
else if(sensorType == "camera")
{
gzmsg << "RockBridge: creating camera component: " + sensorName << endl;
CameraTask* camera = new CameraTask();
string topicName = model->GetName() + "/" + linkElement->Get<string>("name") + "/" + sensorName + "/image";
camera->setGazeboModel(model, sensorName, topicName);
setupTaskActivity(camera);
}
else if(sensorType == "imu")
{
gzmsg << "RockBridge: creating imu component: " + sensorName << endl;
ImuTask *imu = new ImuTask();
string topicName = model->GetName() + "/" + linkElement->Get<string>("name") + "/" + sensorName + "/imu";
imu->setGazeboModel(model, sensorName, topicName);
setupTaskActivity(imu);
}
sensorElement = sensorElement->GetNextElement("sensor");
}
linkElement = linkElement->GetNextElement("link");
}
}