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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, 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 <boost/thread.hpp> 00038 #include <ros/console.h> 00039 #include <ros/ros.h> 00040 #include <actionlib/server/simple_action_server.h> 00041 #include <image_cb_detector/image_cb_detector_old.h> 00042 #include <image_transport/image_transport.h> 00043 #include <sensor_msgs/Image.h> 00044 #include <image_cb_detector/ConfigAction.h> 00045 #include <calibration_msgs/Interval.h> 00046 00047 using namespace image_cb_detector; 00048 00049 class ImageCbDetectorOldAction 00050 { 00051 public: 00052 ImageCbDetectorOldAction() : as_("cb_detector_config", false), it_(nh_) 00053 { 00054 as_.registerGoalCallback( boost::bind(&ImageCbDetectorOldAction::goalCallback, this) ); 00055 as_.registerPreemptCallback( boost::bind(&ImageCbDetectorOldAction::preemptCallback, this) ); 00056 00057 pub_ = nh_.advertise<calibration_msgs::CalibrationPattern>("features",1); 00058 sub_ = it_.subscribe("image", 2, boost::bind(&ImageCbDetectorOldAction::imageCallback, this, _1)); 00059 as_.start(); 00060 } 00061 00062 void goalCallback() 00063 { 00064 boost::mutex::scoped_lock lock(run_mutex_); 00065 00066 // Stop the previously running goal (if it exists) 00067 if (as_.isActive()) 00068 as_.setPreempted(); 00069 00070 // Get the new goal from the action server 00071 image_cb_detector::ConfigGoalConstPtr goal = as_.acceptNewGoal(); 00072 assert(goal); 00073 00074 // Try to reconfigure the settler object 00075 bool success = detector_.configure(*goal); 00076 00077 // Detect possible failure 00078 if (!success) 00079 as_.setAborted(); 00080 } 00081 00082 void preemptCallback() 00083 { 00084 boost::mutex::scoped_lock lock(run_mutex_); 00085 00086 // Don't need to do any cleanup. Immeadiately turn it off 00087 as_.setPreempted(); 00088 } 00089 00090 void imageCallback(const sensor_msgs::ImageConstPtr& image) 00091 { 00092 boost::mutex::scoped_lock lock(run_mutex_); 00093 00094 if (as_.isActive()) 00095 { 00096 calibration_msgs::CalibrationPattern features; 00097 bool success; 00098 success = detector_.detect(image, features); 00099 00100 if (!success) 00101 { 00102 ROS_ERROR("Error trying to detect checkerboard, not going to publish CalibrationPattern"); 00103 return; 00104 } 00105 00106 pub_.publish(features); 00107 } 00108 } 00109 00110 private: 00111 boost::mutex run_mutex_; 00112 ros::NodeHandle nh_; 00113 actionlib::SimpleActionServer<image_cb_detector::ConfigAction> as_; 00114 ImageCbDetectorOld detector_; 00115 00116 ros::Publisher pub_; 00117 image_transport::ImageTransport it_; 00118 image_transport::Subscriber sub_; 00119 00120 }; 00121 00122 int main(int argc, char** argv) 00123 { 00124 ros::init(argc, argv, "joint_states_settler_action"); 00125 00126 ros::NodeHandle n; 00127 00128 ImageCbDetectorOldAction detector_action; 00129 00130 ros::spin(); 00131 00132 return 0; 00133 }