00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _covariance_markers_alg_node_h_ 00026 #define _covariance_markers_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "covariance_markers_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <visualization_msgs/MarkerArray.h> 00033 #include <nav_msgs/Odometry.h> 00034 00035 // [service client headers] 00036 00037 // [action server client headers] 00038 00043 class CovarianceMarkersAlgNode : public algorithm_base::IriBaseAlgorithm<CovarianceMarkersAlgorithm> 00044 { 00045 private: 00046 // [publisher attributes] 00047 ros::Publisher markers_publisher_; 00048 visualization_msgs::MarkerArray MarkerArray_msg_; 00049 00050 // [subscriber attributes] 00051 ros::Subscriber odom_subscriber_; 00052 void odom_callback(const nav_msgs::Odometry& msg); 00053 CMutex odom_mutex_; 00054 bool new_marker_; 00055 00056 // [service attributes] 00057 00058 // [client attributes] 00059 00060 // [action server attributes] 00061 00062 // [action client attributes] 00063 00064 public: 00071 CovarianceMarkersAlgNode(void); 00072 00079 ~CovarianceMarkersAlgNode(void); 00080 00081 protected: 00094 void mainNodeThread(void); 00095 00108 void node_config_update(Config &config, uint32_t level); 00109 00116 void addNodeDiagnostics(void); 00117 00118 // [diagnostic functions] 00119 00120 // [test functions] 00121 }; 00122 00123 #endif