Il codice è utilizzato in questo tutorial gazebo box animato

Notare l'utilizzo di puntatori boost

/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#include <boost/bind.hpp>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
#include <stdio.h>
 
namespace gazebo
{
  class AnimatedBox : public ModelPlugin
  {
    public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
    {
      // Store the pointer to the model
      this->model = _parent;
 
        // create the animation
        gazebo::common::PoseAnimationPtr anim(
              // name the animation "test",
              // make it last 10 seconds,
              // and set it on a repeat loop
              new gazebo::common::PoseAnimation("test", 10.0, true));
 
        gazebo::common::PoseKeyFrame *key;
 
        // set starting location of the box
        key = anim->CreateKeyFrame(0);
        key->SetTranslation(math::Vector3(0, 0, 0));
        key->SetRotation(math::Quaternion(0, 0, 0));
 
        // set waypoint location after 2 seconds
        key = anim->CreateKeyFrame(2.0);
        key->SetTranslation(math::Vector3(-50, -50, 0));
        key->SetRotation(math::Quaternion(0, 0, 1.5707));
 
 
        key = anim->CreateKeyFrame(4.0);
        key->SetTranslation(math::Vector3(10, 20, 0));
        key->SetRotation(math::Quaternion(0, 0, 1.5707));
 
 
        key = anim->CreateKeyFrame(6.0);
        key->SetTranslation(math::Vector3(-10, 20, 0));
        key->SetRotation(math::Quaternion(0, 0, 1.5707));
 
 
        key = anim->CreateKeyFrame(8.0);
        key->SetTranslation(math::Vector3(10, -20, 0));
        key->SetRotation(math::Quaternion(0, 0, 1.5707));
 
        // set final location equal to starting location
        key = anim->CreateKeyFrame(10);
        key->SetTranslation(math::Vector3(0, 0, 0));
        key->SetRotation(math::Quaternion(0, 0, 0));
 
        // set the animation
        _parent->SetAnimation(anim);
    }
 
    // Pointer to the model
    private: physics::ModelPtr model;
 
    // Pointer to the update event connection
    private: event::ConnectionPtr updateConnection;
  };
 
  // Register this plugin with the simulator
  GZ_REGISTER_MODEL_PLUGIN(AnimatedBox)
}

/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/gazebo.hh>
 
#include <iostream>
 
/////////////////////////////////////////////////
// Function is called every time a message is received.
void posesStampedCallback(ConstPosesStampedPtr &posesStamped)
{
  std::cout << posesStamped->DebugString();
 
  ::google::protobuf::int32 sec = posesStamped->time().sec();
  ::google::protobuf::int32 nsec = posesStamped->time().nsec();
  std::cout << "Read time: sec: " << sec << " nsec: " << nsec << std::endl;
 
  for (int i =0; i < posesStamped->pose_size(); ++i)
  {
    const ::gazebo::msgs::Pose &pose = posesStamped->pose(i);
    std::string name = pose.name();
    if (name == std::string("box"))
    {
      const ::gazebo::msgs::Vector3d &position = pose.position();
 
      double x = position.x();
      double y = position.y();
      double z = position.z();
 
      std::cout << "Read position: x: " << x
          << " y: " << y << " z: " << z << std::endl;
    }
  }
}
 
/////////////////////////////////////////////////
int main(int _argc, char **_argv)
{
  // Load gazebo
  gazebo::setupClient(_argc, _argv);
 
  // Create our node for communication
  gazebo::transport::NodePtr node(new gazebo::transport::Node());
  node->Init();
 
  // Listen to Gazebo pose info topic
  gazebo::transport::SubscriberPtr sub =
  node->Subscribe("~/pose/info", posesStampedCallback);
 
  // Busy wait loop...replace with your own code as needed.
  while (true)
    gazebo::common::Time::MSleep(10);
 
  // Make sure to shut everything down.
  gazebo::shutdown();
}

/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
 
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/common/common.hh>
#include <gazebo/physics/physics.hh>
 
#include <iostream>
 
/////////////////////////////////////////////////
// Function is called every time a message is received.
void posesStampedCallback(ConstPosesStampedPtr &posesStamped)
{
  std::cout << posesStamped->DebugString();
 
  ::google::protobuf::int32 sec = posesStamped->time().sec();
  ::google::protobuf::int32 nsec = posesStamped->time().nsec();
  std::cout << "Read time: sec: " << sec << " nsec: " << nsec << std::endl;
 
  for (int i =0; i < posesStamped->pose_size(); ++i)
  {
    const ::gazebo::msgs::Pose &pose = posesStamped->pose(i);
    std::string name = pose.name();
    if (name == std::string("box"))
    {
      const ::gazebo::msgs::Vector3d &position = pose.position();
 
      double x = position.x();
      double y = position.y();
      double z = position.z();
 
      std::cout << "Read position: x: " << x
          << " y: " << y << " z: " << z << std::endl;
    }
  }
}
 
/////////////////////////////////////////////////
int main(int _argc, char **_argv)
{
  std::string str = "animated_box.world";
  if (_argc > 1)
  {
    str = _argv[1];
  }
 
  // load gazebo server
  gazebo::setupServer(_argc, _argv);
 
  // Load a world
  gazebo::physics::WorldPtr world = gazebo::loadWorld(str);
 
  // Create our node for communication
  gazebo::transport::NodePtr node(new gazebo::transport::Node());
  node->Init();
 
  // Listen to Gazebo pose information topic
  gazebo::transport::SubscriberPtr sub =
  node->Subscribe("~/pose/info", posesStampedCallback);
 
  // Busy wait loop...replace with your own code as needed.
  while (true)
  {
    // Run simulation for 100 steps.
    gazebo::runWorld(world, 100);
  }
 
  // Make sure to shut everything down.
  gazebo::shutdown();
}

http://wiki.ros.org/catkin/CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(animated_box)

# Find packages

find_package(Boost REQUIRED COMPONENTS system)
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})


find_package(Protobuf REQUIRED)

include (FindPkgConfig)
if (PKG_CONFIG_FOUND)
  pkg_check_modules(GAZEBO gazebo)
endif()


# include appropriate directories
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})

# Create libraries and executables

add_library(animated_box SHARED animated_box.cc)
target_link_libraries(animated_box ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

add_executable(integrated_main integrated_main.cc)
target_link_libraries(integrated_main ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${PROTOBUF_LIBRARIES} pthread)


add_executable(independent_listener independent_listener.cc)
target_link_libraries(independent_listener ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${PROTOBUF_LIBRARIES} pthread)

<?xml version="1.0"?> 
<sdf version="1.4">
  <world name="animated_box_world">
 
    <!-- Ground Plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
 
    <include>
      <uri>model://sun</uri>
    </include>
 
    <model name="box">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
 
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
 
      <plugin name="push_animate" filename="libanimated_box.so"/>
    </model>        
  </world>
</sdf>