GazeboRosRfidTag.h

/*
* Gazebo - Outdoor Multi-Robot Simulator
* Copyright (C) 2003
* Nate Koenig & Andrew Howard
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/*
* Desc: 3D position interface.
* Author: Sachin Chitta and John Hsu
* Date: 10 June 2008
* SVN: $Id$
*/
#ifndef GAZEBO_ROS_RFIDTAG_HH
#define GAZEBO_ROS_RFIDTAG_HH

#include <vector>
#include <string>

#include <gazebo/sensors/SensorTypes.hh>
#include <gazebo/sensors/Sensor.hh>
#include <gazebo/math/gzmath.hh>

#include <ros/ros.h>

#include <gazebo/physics/physics.hh>
#include <gazebo/transport/TransportTypes.hh>
#include <gazebo/common/Time.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Events.hh>

namespace gazebo
{

   class GazeboRosRfidTag: public ModelPlugin
   {
      /// \brief Constructor
      public: GazeboRosRosRfidTag();

      /// \brief Destructor
      public: virtual ~GazeboRosRfidTag();

      /// \brief Load the controller
      public: void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf );
      private: void GazeboRosRfidTag::OnScan();

    /// \brief pointer to ros node
    private: ros::NodeHandle* rosnode_;
    private: ros::Publisher contact_pub_;

    private: sensors::RfidSensorPtr parentSensor;

    /// \brief set topic name of broadcast
    private: std::string scan_topic_name_;

    private: std::string frame_name_;

        /// \brief broadcast some string for now.
    private: msgs::Pose scan_pose_msg_;

    /// \brief for setting ROS name space
    private: std::string robot_namespace_;

    private: ros::CallbackQueue scan_queue_;
    private: void ScanQueueThread();
    private: boost::thread callback_queue_thread_;

    // Pointer to the update event connection
    private: event::ConnectionPtr update_connection_;
  };
}

#endif