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 Gps :
public ModelPlugin
42 virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr );
43 virtual void OnUpdate(
const common::UpdateInfo &);
48 physics::ModelPtr model_;
50 event::ConnectionPtr update_connection_;
52 transport::NodePtr node_;
57 double last_sent_time_;
64 transport::PublisherPtr gps_pub_;
Provides ground Truth position.
virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr)
on loading of the plugin
virtual void OnUpdate(const common::UpdateInfo &)
Called by the world update start event.
virtual void Reset()
on Gazebo reset