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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00036 00037 00038 #include <ros/console.h> 00039 #include <ros/ros.h> 00040 #include <laser_joint_projector/laser_joint_projector.h> 00041 #include <kdl_parser/kdl_parser.hpp> 00042 #include <calibration_msgs/JointStateCalibrationPattern.h> 00043 00044 using namespace laser_joint_projector; 00045 using namespace std; 00046 00047 void featuresCallback(ros::Publisher* pub, 00048 LaserJointProjector* projector, 00049 const calibration_msgs::JointStateCalibrationPatternConstPtr& msg) 00050 { 00051 sensor_msgs::PointCloud cloud = projector->project(msg->joint_points, ros::Duration()); 00052 cloud.header.stamp = msg->header.stamp; 00053 cloud.header.frame_id = "torso_lift_link"; 00054 pub->publish(cloud); 00055 } 00056 00057 int main(int argc, char** argv) 00058 { 00059 ros::init(argc, argv, "projector"); 00060 ros::NodeHandle n; 00061 00062 KDL::Tree my_tree; 00063 std::string robot_desc_string; 00064 if (!n.getParam("robot_description", robot_desc_string)) 00065 ROS_FATAL("Couldn't get a robot_description from the param server"); 00066 00067 if (!kdl_parser::treeFromString(robot_desc_string, my_tree)) 00068 { 00069 ROS_ERROR("Failed to construct kdl tree"); 00070 return false; 00071 } 00072 00073 // KDL::Tree my_tree; 00074 // string filename= "/u/vpradeep/ros/pkgs/ros-pkg/stacks/robot_calibration/laser_joint_projector/pr2.urdf"; 00075 // if (!kdl_parser::treeFromFile(filename, my_tree)) 00076 // { 00077 // ROS_ERROR("Failed to construct kdl tree"); 00078 // return -1; 00079 // } 00080 00081 LaserJointProjector projector; 00082 projector.configure(my_tree, "torso_lift_link", "laser_tilt_link"); 00083 00084 // Output 00085 ros::Publisher pub = n.advertise<sensor_msgs::PointCloud>("checkerboard_points", 1); 00086 00087 // Input 00088 boost::function<void (const calibration_msgs::JointStateCalibrationPatternConstPtr&)> cb 00089 = boost::bind(&featuresCallback, &pub, &projector, _1); 00090 00091 ros::Subscriber sub = n.subscribe(std::string("joint_state_features"), 1, cb); 00092 00093 ros::spin(); 00094 00095 return 0; 00096 }