ObjectsPlugin.hpp

#ifndef OBJECTSPLUGIN_HPP
#define OBJECTSPLUGIN_HPP

#include <ros/ros.h>
#include <HLR/World.h>
#include <gazebo/common/common.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>

namespace gazebo // NOLINT
{
struct Object
{
    uint32_t id;

    std::string name;
};

class ObjectPlugin : public WorldPlugin
{
public:
    ObjectPlugin();

    ~ObjectPlugin() override;

    ObjectPlugin(const ObjectPlugin& object_plugin) = delete;

    ObjectPlugin& operator=(const ObjectPlugin& object_plugin) = delete;

    ObjectPlugin(ObjectPlugin&& object_plugin) = delete;

    ObjectPlugin& operator=(ObjectPlugin&& object_plugin) = delete;

    void Load(physics::WorldPtr _parent, sdf::ElementPtr _sdf); // NOLINT

private:
    void update_mesh(const std::string& name,
                     common::Mesh* mesh,
                     const uint32_t& identifier);

    void world_update_callback(const HLR::World::ConstPtr& msg);

    void parse_off(common::Mesh* mesh, std::istream& off_stream) const;

    ros::NodeHandle ros_node;

    ros::Subscriber world_updates_subscriber;

    physics::WorldPtr world;

    std::vector<Object> objects;
};

// Register the world plugin
GZ_REGISTER_WORLD_PLUGIN(ObjectPlugin) // NOLINT
} // namespace gazebo
#endif