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Gazebo transport bridge (#185) #187

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Gazebo transport bridge (#185) #187

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ad8898a
Expose Gazebo topics
roncapat Jan 5, 2023
98e1d3c
Rollback diff w.r.t. master
roncapat Jun 13, 2023
b531b67
Merge branch 'master' into sea
roncapat Sep 13, 2023
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2 changes: 1 addition & 1 deletion gazebo_ros2_control/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ link_directories(

# Libraries
add_library(${PROJECT_NAME} SHARED
src/gazebo_ros2_control_plugin.cpp
src/gazebo_ros2_control_plugin.cpp src/node.cc
)
ament_target_dependencies(${PROJECT_NAME}
angles
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5 changes: 5 additions & 0 deletions gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp
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Expand Up @@ -74,6 +74,7 @@ class GazeboSystem : public GazeboSystemInterface
bool initSim(
rclcpp::Node::SharedPtr & model_nh,
gazebo::physics::ModelPtr parent_model,
gazebo::transport::NodePtr & transport_nh,
const hardware_interface::HardwareInfo & hardware_info,
sdf::ElementPtr sdf) override;

Expand All @@ -86,6 +87,10 @@ class GazeboSystem : public GazeboSystemInterface
const hardware_interface::HardwareInfo & hardware_info,
gazebo::physics::ModelPtr parent_model);

void registerGazeboTopics(
const hardware_interface::HardwareInfo & hardware_info,
gazebo::physics::ModelPtr parent_model);

/// \brief Private data class
std::unique_ptr<GazeboSystemPrivate> dataPtr;
};
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2 changes: 2 additions & 0 deletions gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp
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Expand Up @@ -26,6 +26,7 @@

#include "hardware_interface/system_interface.hpp"

#include "gazebo_ros2_control/node.hh"
#include "rclcpp/rclcpp.hpp"


Expand Down Expand Up @@ -69,6 +70,7 @@ class GazeboSystemInterface
virtual bool initSim(
rclcpp::Node::SharedPtr & model_nh,
gazebo::physics::ModelPtr parent_model,
gazebo::transport::NodePtr & transport_nh,
const hardware_interface::HardwareInfo & hardware_info,
sdf::ElementPtr sdf) = 0;

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