[ros2] Port projector to ROS2 (#956)

* [ros2] Port projector to ROS2

* fix small typo

gazebo_plugins/CMakeLists.txt

@@ -201,6 +201,18 @@ target_link_libraries(gazebo_ros_elevator
 )
 ament_export_libraries(gazebo_ros_elevator)
 
+# gazebo_ros_projector
+add_library(gazebo_ros_projector SHARED
+  src/gazebo_ros_projector.cpp
+)
+ament_target_dependencies(gazebo_ros_projector
+  "gazebo_ros"
+  "gazebo_dev"
+  "rclcpp"
+  "std_msgs"
+)
+ament_export_libraries(gazebo_ros_projector)
+
 ament_export_include_directories(include)
 ament_export_dependencies(rclcpp)
 ament_export_dependencies(gazebo_dev)
@@ -225,6 +237,7 @@ install(TARGETS
     gazebo_ros_ft_sensor
     gazebo_ros_imu_sensor
     gazebo_ros_joint_state_publisher
+    gazebo_ros_projector
     gazebo_ros_ray_sensor
     gazebo_ros_p3d
     gazebo_ros_template

gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.hpp

@@ -0,0 +1,63 @@
+// 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.
+
+#ifndef GAZEBO_PLUGINS__GAZEBO_ROS_PROJECTOR_HPP_
+#define GAZEBO_PLUGINS__GAZEBO_ROS_PROJECTOR_HPP_
+
+#include <gazebo/common/Plugin.hh>
+
+#include <memory>
+
+namespace gazebo_plugins
+{
+class GazeboRosProjectorPrivate;
+
+/// 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();
+
+  /// Destructor
+  ~GazeboRosProjector();
+
+protected:
+  // Documentation inherited
+  void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
+
+private:
+  /// Private data pointer
+  std::unique_ptr<GazeboRosProjectorPrivate> impl_;
+};
+}  // namespace gazebo_plugins
+
+#endif  // GAZEBO_PLUGINS__GAZEBO_ROS_PROJECTOR_HPP_