includeROS.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------

#ifndef __INCLUDE_ROS_
 #define __INCLUDE_ROS_

 #ifdef ROS_ELECTRIC
  #include "ros/ros.h"
  #include "std_msgs/String.h"
  #include <ros/callback_queue.h>
  
  #include <gazebo/Joint.hh>
  #include <gazebo/Simulator.hh>
  #include <SimTime.h>
  #include <ros/ros.h>
  #include <std_msgs/String.h>
  #include <sensor_msgs/Image.h>
  #include <sensor_msgs/CameraInfo.h>
  #include <sensor_msgs/LaserScan.h>
  #include <sensor_msgs/Imu.h>
  #include <geometry_msgs/Vector3Stamped.h>
  #include <nav_msgs/Odometry.h>
  #include <tf/tf.h>
  
  #define GAZEBO_PHYSICS_NAMESPACE gazebo
  #define GAZEBO_COMMON_NAMESPACE gazebo
  #define GAZEBO_JOINT_PTR gazebo::Joint*
  #define ROS_QUATERNION tf::btQuaternion
  #define ROS_MATRIX33 btMatrix3x3
  
  static GAZEBO_COMMON_NAMESPACE::Time GAZEBO_GET_SIM_TIME(){
   return gazebo::Simulator::Instance()->GetSimTime();
  }
  
 //  #define GAZEBO_GET_SIM_TIME(TIMENAME)\
 //  ##TIMENAME = gazebo::Simulator::Instance()->GetSimTime();
 #endif
 #ifdef ROS_FUERTE
  #include "ros/ros.h"
  #include "std_msgs/String.h"
  #include "std_msgs/Int32.h"
  #include <physics/Joint.hh>
  #include <physics/World.hh>
  #include <physics/State.hh>
  #include <physics/Physics.hh>
  #include <sensor_msgs/Image.h>
  #include <sensor_msgs/CameraInfo.h>
  #include <sensor_msgs/LaserScan.h>
  #include <sensor_msgs/Range.h>
  #include <sensor_msgs/Imu.h>
  #include <nav_msgs/Odometry.h>
  #include <tf/tf.h>
//  #include <tf/transform_datatypes.h>
  
  #define GAZEBO_PHYSICS_NAMESPACE gazebo::physics
  #define GAZEBO_COMMON_NAMESPACE gazebo::common
  #define GAZEBO_JOINT_PTR gazebo::physics::JointPtr
  #define ROS_QUATERNION tf::Quaternion
  #define ROS_MATRIX33 tf::Matrix3x3
  
  static GAZEBO_COMMON_NAMESPACE::Time GAZEBO_GET_SIM_TIME(){
    std::string _worldName;
//    gazebo::physics::WorldPtr gazebo_world = gazebo::physics::World::GetSimTime();
    gazebo::physics::WorldPtr gazebo_world = gazebo::physics::get_world(_worldName);
    return gazebo_world->GetSimTime();
  }
  
 //  #define GAZEBO_GET_SIM_TIME gazebo::Simulator::Instance()->GetSimTime()
 #endif
 
#endif