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 #include <laser_joint_processor/laser_joint_processor.h> 00038 #include <message_filters/time_synchronizer.h> 00039 #include <message_filters/subscriber.h> 00040 00041 namespace laser_joint_processor 00042 { 00043 00044 class LaserJointProcessorNode 00045 { 00046 public: 00047 LaserJointProcessorNode(); 00048 ~LaserJointProcessorNode(); 00049 00050 void configure(const std::vector<std::string>& joint_names, unsigned max_cache_size); 00051 00052 void jointStateCallback(const sensor_msgs::JointStateConstPtr& joint_state); 00053 private: 00054 void syncCallback(const calibration_msgs::DenseLaserSnapshotConstPtr& snapshot, 00055 const calibration_msgs::CalibrationPatternConstPtr& features); 00056 00057 void processPair( const calibration_msgs::DenseLaserSnapshotConstPtr& snapshot, 00058 const calibration_msgs::CalibrationPatternConstPtr& features); 00059 00060 00061 00062 boost::mutex mutex_; 00063 00064 // ROS & Filter Stuff 00065 ros::NodeHandle nh_; 00066 ros::Publisher pub_; 00067 message_filters::Subscriber<calibration_msgs::DenseLaserSnapshot> snapshot_sub_; 00068 message_filters::Subscriber<calibration_msgs::CalibrationPattern> features_sub_; 00069 message_filters::TimeSynchronizer<calibration_msgs::DenseLaserSnapshot, 00070 calibration_msgs::CalibrationPattern> sync_; 00071 message_filters::Connection sync_connection_; 00072 00073 // Store the latest queued snapshot & features 00074 calibration_msgs::DenseLaserSnapshotConstPtr queued_snapshot_; 00075 calibration_msgs::CalibrationPatternConstPtr queued_features_; 00076 00077 // Actual processing code 00078 LaserJointProcessor processor_; 00079 }; 00080 00081 00082 }