Use only topic to set material

include/color_plugin.h

@@ -50,20 +50,21 @@
       ros::Subscriber material_subscriber;
       void materialCallback(const std_msgs::String::ConstPtr& msg);
       bool new_material;
-      ros::Subscriber color_subscriber;
-      void colorCallback(const std_msgs::ColorRGBA::ConstPtr& msg);
-      bool new_color;
-      
-      ros::ServiceServer trigger_server;
-      bool triggerCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
+
+      //ros::Subscriber color_subscriber;
+      //void colorCallback(const std_msgs::ColorRGBA::ConstPtr& msg);
+      //bool new_color;
+
+      //ros::ServiceServer trigger_server;
+      //bool triggerCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
       
       std::string plugin_name;
       std::string element_name;
       std::string material_name;
       std::string material1_name;
       std::string material2_name;
-      bool trigger_state;
-      ignition::math::Color color;
+      //bool trigger_state;
+      //ignition::math::Color color;
   };
 //}
 

src/color_plugin.cc

@@ -27,10 +27,10 @@ ColorPlugin::ColorPlugin()
   this->material1_name="Gazebo/Red";
   this->material2_name="Gazebo/Green";
   this->plugin_name="empty_plugin_name";
-  this->color.Set(1, 0 , 0);
+  //this->color.Set(1, 0 , 0);
   this->new_material=false;
-  this->new_color=false;
-  this->trigger_state=false;
+  //this->new_color=false;
+  //this->trigger_state=false;
   
 }
 
@@ -45,6 +45,8 @@ void ColorPlugin::Load(gazebo::rendering::VisualPtr _parent, sdf::ElementPtr _sd
 
   this->plugin_name = this->GetHandle().c_str();
 
+  ROS_INFO("handle=%s", this->GetHandle().c_str());
+
   if(_sdf->HasElement("material"))
   {
     this->material1_name =  _sdf->GetElement("material")->Get<std::string>();
@@ -74,43 +76,47 @@ void ColorPlugin::threadFunction()
   {
     this->nh = new ros::NodeHandle("~");
     std::string material_topic = "/" + this->plugin_name + "/" + "set_material";
-    std::string color_topic = "/" + this->plugin_name + "/" + "set_color";
-    std::string srv_topic = "/" + this->plugin_name + "/" + "trigger";
+    //std::string color_topic = "/" + this->plugin_name + "/" + "set_color";
+    //std::string srv_topic = "/" + this->plugin_name + "/" + "trigger";
     this->material_subscriber = this->nh->subscribe<std_msgs::String>(material_topic, 1, boost::bind(&ColorPlugin::materialCallback, this, _1));
-    this->color_subscriber    = this->nh->subscribe<std_msgs::ColorRGBA>(color_topic, 1, boost::bind(&ColorPlugin::colorCallback, this, _1));
-    this->trigger_server      = this->nh->advertiseService(srv_topic, &ColorPlugin::triggerCallback, this);
+    //this->color_subscriber    = this->nh->subscribe<std_msgs::ColorRGBA>(color_topic, 1, boost::bind(&ColorPlugin::colorCallback, this, _1));
+    //this->trigger_server      = this->nh->advertiseService(srv_topic, &ColorPlugin::triggerCallback, this);
   }
 }
 
-void ColorPlugin::materialCallback(const std_msgs::String::ConstPtr& _msg) 
+void ColorPlugin::materialCallback(const std_msgs::String::ConstPtr& _msg)
 {
   std_msgs::String name_msg = *_msg;
 
-  if(!this->trigger_state)
-    this->material1_name=name_msg.data;
+  if(name_msg.data.size()==0)
+  {
+    if(this->material_name==this->material1_name)
+      this->material_name=this->material2_name;
+    else if(this->material_name==this->material2_name)
+      this->material_name=this->material1_name;
+  }
   else
-    this->material2_name=name_msg.data;
-  
-  this->material_name = name_msg.data;
+    this->material_name = name_msg.data;
+
   this->new_material=true;
 }
 
-void ColorPlugin::colorCallback(const std_msgs::ColorRGBA::ConstPtr& _msg) 
-{  
-  this->color.Set(_msg->r, _msg->g, _msg->b);
-  this->new_color=true;
-}
+// void ColorPlugin::colorCallback(const std_msgs::ColorRGBA::ConstPtr& _msg)
+// {
+//   this->color.Set(_msg->r, _msg->g, _msg->b);
+//   this->new_color=true;
+// }
 
-bool ColorPlugin::triggerCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
-{
-  if(!this->trigger_state)
-    this->material_name=this->material2_name;
-  else
-    this->material_name=this->material1_name;
-  this->trigger_state = !this->trigger_state;
-  this->new_material=true;
-  return true;
-}
+// bool ColorPlugin::triggerCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
+// {
+//   if(!this->trigger_state)
+//     this->material_name=this->material2_name;
+//   else
+//     this->material_name=this->material1_name;
+//   this->trigger_state = !this->trigger_state;
+//   this->new_material=true;
+//   return true;
+// }
 
 void ColorPlugin::OnUpdate()
 {
@@ -119,11 +125,11 @@ void ColorPlugin::OnUpdate()
     this->model->SetMaterial(this->material_name);
     this->new_material=false;
   }
-  else if(this->new_color)
-  {
-    this->model->SetAmbient(this->color);
-    this->model->SetDiffuse(this->color);
-    this->model->SetEmissive(this->color);
-    this->new_color=false;
-  }
+//   else if(this->new_color)
+//   {
+//     this->model->SetAmbient(this->color);
+//     this->model->SetDiffuse(this->color);
+//     this->model->SetEmissive(this->color);
+//     this->new_color=false;
+//   }
 }