17 #ifndef GAZEBO_PLUGINS_DIFFDRIVEPLUGIN_HH_
18 #define GAZEBO_PLUGINS_DIFFDRIVEPLUGIN_HH_
19 #include <ignition/transport/Node.hh>
22 #include "gazebo/physics/physics.hh"
33 public:
virtual void Init();
35 private:
void OnUpdate();
37 private:
void OnVelMsg(ConstPosePtr &_msg);
45 private:
double wheelSpeed[2];
46 private:
double wheelSeparation;
47 private:
double wheelRadius;
56 private: ignition::transport::Node nodeIgn;
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
Forward declarations for transport.
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Definition: DiffDrivePlugin.hh:29
A plugin with access to physics::Model.
Definition: Plugin.hh:260
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44