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 Gyro :
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_;
61 double last_sent_time_;
64 double send_interval_;
72 transport::PublisherPtr gyro_pub_;
Plugin for a gyro sensor on a model.
virtual void Reset()
on Gazebo reset
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