terrain_plugin.h

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#pragma once
 
// Gazebo
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
 
// ROS
#include "ros/ros.h"
#include "ros/package.h"
#include "ros/console.h"
#include "ros/callback_queue.h"
#include "ros/subscribe_options.h"
#include "eigen_conversions/eigen_msg.h"
#include "std_msgs/Float32.h"
#include "std_msgs/Float64MultiArray.h"
#include "sensor_msgs/JointState.h"
#include "std_srvs/Empty.h"
 
 
#include<string>
#include<vector>
#include<iostream>
 
namespace gazebo{
 
 
class TerrainPlugin : public WorldPlugin
{
    public: TerrainPlugin();
 
    public: virtual ~TerrainPlugin();
 
    public: virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);
 
    public: bool ResetSimulation(const std_srvs::Empty::Request &_req,
                                    std_srvs::Empty::Response &_res);
 
    public: void InitRos();
 
    public: void InitRosQueueThreads();
 
    public: void ProcessQueueThread();
 
    private: physics::WorldPtr world;
 
    private: std::unique_ptr<ros::NodeHandle> rosNode;
 
    private: ros::ServiceServer resetSimService;
 
    private: ros::ServiceClient tetrapodResetService;
 
    private: ros::CallbackQueue rosProcessQueue;
 
    private: std::thread rosProcessQueueThread;
 
};
 
    // Tell Gazebo about this plugin, so that Gazebo can call Load on this plugin.
GZ_REGISTER_WORLD_PLUGIN(TerrainPlugin)
}