21 #include <boost/bind.hpp> 22 #include <gazebo/gazebo.hh> 23 #include <gazebo/physics/physics.hh> 24 #include <gazebo/common/common.hh> 26 #include <gazebo/transport/transport.hh> 36 class Gps :
public ModelPlugin
43 virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr );
44 virtual void OnUpdate(
const common::UpdateInfo &);
49 physics::ModelPtr model_;
51 event::ConnectionPtr update_connection_;
53 transport::NodePtr node_;
58 double last_sent_time_;
65 transport::PublisherPtr gps_pub_;
virtual void OnUpdate(const common::UpdateInfo &)
Called by the world update start event.
virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr)
on loading of the plugin
Provides ground Truth position.
virtual void Reset()
on Gazebo reset