void GazeboRosMagnetic::Load()

in simulation_ws/src/rover/hector_gazebo_plugins/src/gazebo_ros_magnetic.cpp [58:150]

• 69 lines of code
• 14 McCabe index (conditional complexity)

void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
  world = _model->GetWorld();

  // load parameters
  if (_sdf->HasElement("robotNamespace"))
    namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
  else
    namespace_.clear();

  if (!_sdf->HasElement("topicName"))
    topic_ = "magnetic";
  else
    topic_ = _sdf->GetElement("topicName")->Get<std::string>();


  if (_sdf->HasElement("bodyName"))
  {
    link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString();
    link = _model->GetLink(link_name_);
  }
  else
  {
    link = _model->GetLink();
    link_name_ = link->GetName();
  }

  if (!link)
  {
    ROS_FATAL("GazeboRosMagnetic plugin error: bodyName: %s does not exist\n", link_name_.c_str());
    return;
  }

  // default parameters
  frame_id_ = link_name_;
  magnitude_ = DEFAULT_MAGNITUDE;
  reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0;
  declination_ = DEFAULT_DECLINATION * M_PI/180.0;
  inclination_ = DEFAULT_INCLINATION * M_PI/180.0;

  if (_sdf->HasElement("frameId"))
    frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString();

  if (_sdf->HasElement("magnitude"))
    _sdf->GetElement("magnitude")->GetValue()->Get(magnitude_);

  if (_sdf->HasElement("referenceHeading"))
    if (_sdf->GetElement("referenceHeading")->GetValue()->Get(reference_heading_))
      reference_heading_ *= M_PI/180.0;

  if (_sdf->HasElement("declination"))
    if (_sdf->GetElement("declination")->GetValue()->Get(declination_))
      declination_ *= M_PI/180.0;

  if (_sdf->HasElement("inclination"))
    if (_sdf->GetElement("inclination")->GetValue()->Get(inclination_))
      inclination_ *= M_PI/180.0;

  // Note: Gazebo uses NorthWestUp coordinate system, heading and declination are compass headings
  magnetic_field_.header.frame_id = frame_id_;
#if (GAZEBO_MAJOR_VERSION >= 8)
  magnetic_field_world_.X() = magnitude_ *  cos(inclination_) * cos(reference_heading_ - declination_);
  magnetic_field_world_.Y() = magnitude_ *  cos(inclination_) * sin(reference_heading_ - declination_);
  magnetic_field_world_.Z() = magnitude_ * -sin(inclination_);
#else
  magnetic_field_world_.x = magnitude_ *  cos(inclination_) * cos(reference_heading_ - declination_);
  magnetic_field_world_.y = magnitude_ *  cos(inclination_) * sin(reference_heading_ - declination_);
  magnetic_field_world_.z = magnitude_ * -sin(inclination_);
#endif

  sensor_model_.Load(_sdf);

  // start ros node
  if (!ros::isInitialized())
  {
    int argc = 0;
    char** argv = NULL;
    ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName);
  }

  node_handle_ = new ros::NodeHandle(namespace_);
  publisher_ = node_handle_->advertise<geometry_msgs::Vector3Stamped>(topic_, 1);

  // setup dynamic_reconfigure server
  dynamic_reconfigure_server_.reset(new dynamic_reconfigure::Server<SensorModelConfig>(ros::NodeHandle(*node_handle_, topic_)));
  dynamic_reconfigure_server_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &sensor_model_, _1, _2));

  Reset();

  // connect Update function
  updateTimer.Load(world, _sdf);
  updateConnection = updateTimer.Connect(boost::bind(&GazeboRosMagnetic::Update, this));
}