text: /**
  Copyright (c) 2014, Konstantinos Chatzilygeroudis
  All rights reserved.
  
  Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
  
  1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  
  2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer
      in the documentation and/or other materials provided with the distribution.
  
  3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived
      from this software without specific prior written permission.
  
  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
  BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
  SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
  OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  **/
  
  #ifndef ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN
  #define ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN
  
  // ROS includes
  #include <rclcpp/rclcpp.hpp>
  
  // Gazebo includes
  #include <gazebo/common/Plugin.hh>
  #include <gazebo/physics/physics.hh>
  
  namespace gazebo {
  
      class DisableLinkPlugin : public ModelPlugin {
        public:
          DisableLinkPlugin();
          virtual ~DisableLinkPlugin() override;
  
          virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) override;
  
        private:
          // Parameters
          std::string link_name_;
  
          // Pointers to the joints
          physics::LinkPtr link_;
  
          // Pointer to the model
          physics::ModelPtr model_;
  
          // Pointer to the world
          physics::WorldPtr world_;
      };
  
  }
  
  #endif  // ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN
  