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[ros2] Port projector to ROS2 (#956)
* [ros2] Port projector to ROS2 * fix small typo
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.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.h
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.ros1_unported/gazebo_plugins/src/gazebo_ros_projector.cpp
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gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.hpp
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// Copyright 2019 Open Source Robotics Foundation | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef GAZEBO_PLUGINS__GAZEBO_ROS_PROJECTOR_HPP_ | ||
#define GAZEBO_PLUGINS__GAZEBO_ROS_PROJECTOR_HPP_ | ||
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#include <gazebo/common/Plugin.hh> | ||
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#include <memory> | ||
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namespace gazebo_plugins | ||
{ | ||
class GazeboRosProjectorPrivate; | ||
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/// A projector plugin for gazebo. | ||
/** | ||
Example Usage: | ||
\code{.xml} | ||
<!-- Plugin to control the projector --> | ||
<plugin name="projector" filename="libgazebo_ros_projector.so"> | ||
<ros> | ||
<namespace>demo</namespace> | ||
<!-- topic remapping --> | ||
<argument>switch:=switch_demo</argument> | ||
<projector_link>projector_link</projector_link> | ||
<projector_name>my_projector</projector_name> | ||
</ros> | ||
\endcode | ||
*/ | ||
class GazeboRosProjector : public gazebo::ModelPlugin | ||
{ | ||
public: | ||
/// Constructor | ||
GazeboRosProjector(); | ||
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/// Destructor | ||
~GazeboRosProjector(); | ||
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protected: | ||
// Documentation inherited | ||
void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override; | ||
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private: | ||
/// Private data pointer | ||
std::unique_ptr<GazeboRosProjectorPrivate> impl_; | ||
}; | ||
} // namespace gazebo_plugins | ||
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#endif // GAZEBO_PLUGINS__GAZEBO_ROS_PROJECTOR_HPP_ |
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