gazebo_ros_camera_utils.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: A dynamic controller plugin that publishes ROS image_raw camera_info topic for generic camera sensor.
 * Author: John Hsu
 * Date: 24 Sept 2008
 * SVN: $Id$
 */
#ifndef GAZEBO_ROS_CAMERA_UTILS_HH
#define GAZEBO_ROS_CAMERA_UTILS_HH

// ros stuff
#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>

// ros messages stuff
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <std_msgs/Float64.h>
#include "image_transport/image_transport.h"

// gazebo stuff
#include "sdf/interface/Param.hh"
#include "physics/physics.h"
#include "transport/TransportTypes.hh"
#include "msgs/MessageTypes.hh"
#include "common/Time.hh"
#include "sensors/SensorTypes.hh"
#include "plugins/CameraPlugin.hh"


// dynamic reconfigure stuff
#include <gazebo_plugins/GazeboRosCameraConfig.h>
#include <dynamic_reconfigure/server.h>

// boost stuff
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>


namespace gazebo
{

  class GazeboRosCameraUtils //: public CameraPlugin
  {
    public: GazeboRosCameraUtils();

    public: ~GazeboRosCameraUtils();

    public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);

    private: void Init();

    protected: void PutCameraData(const unsigned char *_src);
    protected: void PutCameraData(const unsigned char *_src, common::Time &last_update_time);

    protected: int image_connect_count_;
    protected: void ImageConnect();
    protected: void ImageDisconnect();

    private: void SetHFOV(const std_msgs::Float64::ConstPtr& hfov);
    private: void SetUpdateRate(const std_msgs::Float64::ConstPtr& update_rate);

    protected: ros::NodeHandle* rosnode_;
    protected: image_transport::Publisher image_pub_;
    private: image_transport::ImageTransport* itnode_;

    protected: sensor_msgs::Image image_msg_;

    private: std::string robot_namespace_;

    private: std::string camera_name_;

    protected: std::string image_topic_name_;

    protected: void PublishCameraInfo(ros::Publisher camera_info_publisher);
    protected: void PublishCameraInfo(common::Time &last_update_time);
    protected: void PublishCameraInfo();
    protected: int info_connect_count_;
    private: void InfoConnect();
    private: void InfoDisconnect();
    protected: ros::Publisher camera_info_pub_;
    protected: std::string camera_info_topic_name_;
    protected: common::Time last_info_update_time_;

    protected: std::string frame_name_;
    protected: double update_rate_;
    protected: double update_period_;
    protected: common::Time last_update_time_;

    protected: double cx_prime_;
    protected: double cx_;
    protected: double cy_;
    protected: double focal_length_;
    protected: double hack_baseline_;
    protected: double distortion_k1_;
    protected: double distortion_k2_;
    protected: double distortion_k3_;
    protected: double distortion_t1_;
    protected: double distortion_t2_;

    protected: boost::mutex lock_;

    protected: std::string type_;
    protected: int skip_;

    private: ros::Subscriber cameraHFOVSubscriber_;
    private: ros::Subscriber cameraUpdateRateSubscriber_;

    // Time last published, refrain from publish unless new image has been rendered
    // Allow dynamic reconfiguration of camera params
    dynamic_reconfigure::Server<gazebo_plugins::GazeboRosCameraConfig> *dyn_srv_;

    void configCallback(gazebo_plugins::GazeboRosCameraConfig &config, uint32_t level);

    protected: ros::CallbackQueue camera_queue_;
    protected: void CameraQueueThread();
    protected: boost::thread callback_queue_thread_;


    // copied from CameraPlugin
    protected: unsigned int width_, height_, depth_;
    protected: std::string format_;

    protected: sensors::SensorPtr parentSensor_;
    protected: rendering::CameraPtr camera_;

    // Pointer to the world
    protected: physics::WorldPtr world_;

    private: event::ConnectionPtr newFrameConnection_;

    protected: common::Time sensor_update_time_;

    // maintain for one more release for backwards compatibility with pr2_gazebo_plugins
    protected: int imageConnectCount;
    protected: int infoConnectCount;
    protected: physics::WorldPtr world;
  };

}
#endif