Add object control over gz

include/gz_gep_tools/control_over_gz.hh

+/// Standard includes
+#include <vector>
+#include <string>
+
+/// GZ includes
+#include <gz/msgs.hh>
+#include <gz/transport.hh>
+
+namespace gz_transport_hw_tools {
+
+class ControlOverGz {
+ public:
+
+  /// Provides the gazebo name.
+  ControlOverGz(std::string &world_prefix);
+
+  /// Pause Gazebosim
+  bool Pause();
+
+  /// Start Gazebo
+  bool Start();
+  
+  /// Reset Gazebosim
+  bool Reset();
+  
+ protected:
+
+  /// Send a Pause request
+  bool SendPauseRequest(bool abool);
+  
+  /// World prefix 
+  std::string world_prefix_;
+
+  /// list of services
+  std::string control_gzsim_;
+
+  /// GZ node
+  gz::transport::Node node_;
+
+  
+};
+
+}
+

src/control_over_gz.cc

+#include <gz_gep_tools/control_over_gz.hh>
+#include <gz/msgs.hh>
+#include <gz/transport.hh>
+
+namespace gz_transport_hw_tools {
+
+ControlOverGz::ControlOverGz(std::string &world_prefix)
+    : world_prefix_(world_prefix) {
+  control_gzsim_ = world_prefix+std::string("/control");  
+}
+
+bool ControlOverGz::Reset()
+{
+  gz::msgs::WorldControl req_world_ctrl;
+  gz::msgs::WorldReset req_world_reset;
+  gz::msgs::Boolean rep_bool;
+  unsigned int timeout = 5000;
+  
+  /// Set reset for everything
+  req_world_reset.set_all(true);
+  /// Set the world reset inside the world control reset.
+  req_world_ctrl.set_allocated_reset(&req_world_reset);
+  /// Do request.
+  bool result;
+  node_.Request( control_gzsim_, req_world_ctrl, timeout, rep_bool, result);
+
+  return result;
+}
+
+bool ControlOverGz::SendPauseRequest(bool abool)
+{
+  gz::msgs::WorldControl req_world_ctrl;
+  gz::msgs::Boolean rep_bool;
+  unsigned int timeout = 5000;
+  
+  /// Set the world reset inside the world control reset.
+  req_world_ctrl.set_pause(abool);
+  
+  /// Do request.
+  bool result;
+  node_.Request( control_gzsim_, req_world_ctrl, timeout, rep_bool, result);
+  return result;
+}
+
+bool ControlOverGz::Pause() { return SendPauseRequest(true); }
+
+bool ControlOverGz::Start() { return SendPauseRequest(false); }
+
+
+
+}