21 #include <boost/bind.hpp> 22 #include <gazebo/common/common.hh> 23 #include <gazebo/gazebo.hh> 24 #include <gazebo/physics/physics.hh> 25 #include <gazebo/transport/transport.hh> 35 class Gyro :
public ModelPlugin
45 virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr );
46 virtual void OnUpdate(
const common::UpdateInfo &);
51 physics::ModelPtr model_;
53 event::ConnectionPtr update_connection_;
55 transport::NodePtr node_;
60 double last_sent_time_;
63 double send_interval_;
70 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