Hi, i wrote a plugin(attached down) to move a robot in the space , i compile the plugin and is compiling ok.
I add this line to my SDF at the end of model
#include
#include "geometry_msgs/Twist.h"
#include
#include
#include
static float velx=0.0,vely=0.0,velz=0.0,Vangx=0.0,Vangy=0.0, Vangz=0.0; // set as global
namespace gazebo
{
class plugins : public ModelPlugin
{
public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
{
// Store the pointer to the model
this->model = _parent;
// Listen to the update event. This event is broadcast every
// simulation iteration.
this->updateConnection = event::Events::ConnectWorldUpdateBegin(
boost::bind(&plugins::OnUpdate, this, _1));
}
// callback functions run every time data is published to the topic
void ROSCallback_Vel(const geometry_msgs::Twist::ConstPtr& msg)
{
velx=msg->linear.x;
vely=msg->linear.y;
velz=msg->linear.z;
Vangx=msg->angular.x;
Vangy=msg->angular.y;
Vangz=msg->angular.z;
}
// Called by the world update start event
public: void OnUpdate(const common::UpdateInfo & /*_info*/)
{
// Apply a small linear velocity to the model.
this->model->SetLinearVel(math::Vector3(velx, vely, velz));
this->model->SetAngularVel(math::Vector3(Vangx, Vangy, Vangz));
}
// Pointer to the model
private: physics::ModelPtr model;
// Pointer to the update event connection
private: event::ConnectionPtr updateConnection;
};
// Register this plugin with the simulator
GZ_REGISTER_MODEL_PLUGIN(plugins)
}
↧