[ros2] Port hand of god to ROS2

gazebo_plugins/CMakeLists.txt

@@ -201,6 +201,20 @@ target_link_libraries(gazebo_ros_harness
 )
 ament_export_libraries(gazebo_ros_harness)
 
+# gazebo_ros_hand_of_god
+add_library(gazebo_ros_hand_of_god SHARED
+  src/gazebo_ros_hand_of_god.cpp
+)
+ament_target_dependencies(gazebo_ros_hand_of_god
+  "gazebo_ros"
+  "gazebo_dev"
+  "rclcpp"
+  "tf2"
+  "tf2_geometry_msgs"
+  "tf2_ros"
+)
+ament_export_libraries(gazebo_ros_hand_of_god)
+
 # gazebo_ros_ackermann_drive
 add_library(gazebo_ros_ackermann_drive SHARED
   src/gazebo_ros_ackermann_drive.cpp
@@ -282,6 +296,7 @@ install(TARGETS
     gazebo_ros_elevator
     gazebo_ros_force
     gazebo_ros_ft_sensor
+    gazebo_ros_hand_of_god
     gazebo_ros_harness
     gazebo_ros_imu_sensor
     gazebo_ros_joint_state_publisher

gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.hpp

@@ -0,0 +1,73 @@
+// Copyright 2019 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.
+
+#ifndef GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_
+#define GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_
+
+#include <gazebo/common/Plugin.hh>
+
+#include <memory>
+
+namespace gazebo_plugins
+{
+class GazeboRosHandOfGodPrivate;
+
+/// Drives a floating object around based on the location of a TF frame.
+/// It is useful for connecting human input
+/**
+  Example Usage:
+  \code{.xml}
+    <plugin name="gazebo_ros_hand_of_god" filename="libgazebo_ros_hand_of_god.so">
+
+      <ros>
+
+        <!-- Add a namespace -->
+        <namespace>/demo</namespace>
+
+      </ros>
+
+      <!-- This is required -->
+      <link_name>link</link_name>
+
+      <!-- Defaults to world -->
+      <!-- The plugin expects TF `frame_id` + "_desired" and broadcasts `frame_id` + "_actual" -->
+      <frame_id>link</frame_id>
+
+      <!-- Set force and torque gains -->
+      <ka>200</ka>
+      <kl>200</kl>
+
+    </plugin>
+  \endcode
+*/
+class GazeboRosHandOfGod : public gazebo::ModelPlugin
+{
+public:
+  /// Constructor
+  GazeboRosHandOfGod();
+
+  /// Destructor
+  ~GazeboRosHandOfGod();
+
+protected:
+  // Documentation inherited
+  void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
+
+private:
+  /// Private data pointer
+  std::unique_ptr<GazeboRosHandOfGodPrivate> impl_;
+};
+}  // namespace gazebo_plugins
+
+#endif  // GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_