21 #include <boost/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 Gyro :
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 double last_sent_time_;
63 double send_interval_;
70 transport::PublisherPtr gyro_pub_;