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/*
* Copyright (C) 2012-2014 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.
*
*/
#include <sdf/sdf.hh>
#include <boost/bind.hpp>
#include "gazebo/gazebo.hh"
#include "gazebo/common/Plugin.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/transport.hh"
/// \example examples/plugins/world_edit.cc
/// This example creates a WorldPlugin, initializes the Transport system by
/// creating a new Node, and publishes messages to alter gravity.
namespace gazebo
{
class WorldEdit : public WorldPlugin
{
public: void Load(physics::WorldPtr _parent, sdf::ElementPtr _sdf)
{
// Create a new transport node
this->node.reset(new transport::Node());
// Initialize the node with the world name
this->node->Init(_parent->GetName());
std::cout << _parent->GetName() << std::endl;
// Create a publisher
this->pub = this->node->Advertise<msgs::WorldControl>("~/world_control");
// Listen to the update event. Event is broadcast every simulation
// iteration.
this->updateConnection = event::Events::ConnectWorldUpdateEnd(
boost::bind(&WorldEdit::OnUpdate, this));
// Configure the initial message to the system
msgs::WorldControl worldControlMsg;
// Set the world to paused
worldControlMsg.set_pause(0);
// Set the step flag to true
worldControlMsg.set_step(1);
// Publish the initial message.
this->pub->Publish(worldControlMsg);
std::cout << "Publishing Load." << std::endl;
}
// Called by the world update start event.
public: void OnUpdate()
{
// Throttle Publication
gazebo::common::Time::MSleep(1000);
msgs::WorldControl msg;
msg.set_step(1);
this->pub->Publish(msg);
std::cout << "Publishing OnUpdate." << std::endl;
}
// Pointer to the world_controller
private: transport::NodePtr node;
private: transport::PublisherPtr pub;
// Pointer to the update event connection
private: event::ConnectionPtr updateConnection;
};
// Register this plugin with the simulator
GZ_REGISTER_WORLD_PLUGIN(WorldEdit)
}