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 Motor :
public ModelPlugin
46 virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr );
47 virtual void OnUpdate(
const common::UpdateInfo &);
52 physics::ModelPtr model_;
54 event::ConnectionPtr update_connection_;
56 transport::NodePtr node_;
62 void on_motor_move_msg(ConstVector3dPtr &msg);
65 transport::SubscriberPtr motor_move_sub_;
virtual void Reset()
on Gazebo reset
virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr)
on loading of the plugin
virtual void OnUpdate(const common::UpdateInfo &)
Called by the world update start event.