21 #ifndef _PLUGINS_GAZSIM_WEBCAM_H_
22 #define _PLUGINS_GAZSIM_WEBCAM_H_
24 #include <aspect/blackboard.h>
25 #include <aspect/blocked_timing.h>
26 #include <aspect/clock.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <config/config.h>
30 #include <core/threading/thread.h>
31 #include <fvutils/ipc/shm_image.h>
32 #include <plugins/gazebo/aspect/gazebo.h>
34 #include <boost/circular_buffer.hpp>
38 #include <gazebo/msgs/MessageTypes.hh>
39 #include <gazebo/transport/TransportTypes.hh>
40 #include <gazebo/transport/transport.hh>
46 gazebo::transport::NodePtr gazebo_world_node,
52 gazebo::transport::SubscriberPtr webcam_sub_;
55 void on_webcam_data_msg(ConstImageStampedPtr &msg);
60 unsigned char *buffer_;
64 std::string topic_name_;
65 double width_, height_;
69 firevision::colorspace_t format_from_;
70 firevision::colorspace_t format_to_;
Simulates a single webcam in Gazebo.
GazsimWebcam(std::string shm_id, gazebo::transport::NodePtr gazebo_world_node, fawkes::Configuration *config)
Constructor.
Interface for configuration handling.
Shared memory image buffer.