21 #include <boost/bind/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 Motor :
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 void on_motor_move_msg(ConstVector3dPtr &msg);
63 transport::SubscriberPtr motor_move_sub_;
virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr)
on loading of the plugin
virtual void Reset()
on Gazebo reset
virtual void OnUpdate(const common::UpdateInfo &)
Called by the world update start event.