laser_localisation_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
//
// IMPORTANT NOTE: This code has been generated through a script from the
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _laser_localisation_alg_node_h_
#define _laser_localisation_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "laser_localisation_alg.h"

// tf
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>

// [publisher subscriber headers]
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <sensor_msgs/LaserScan.h>

// [service client headers]
#include <iri_laser_localisation/DoEstimation.h>
#include <iri_laser_localisation/DoLocalisation.h>
#include <iri_laser_icp/GetRelativePose.h>

// [action server client headers]

class LaserLocalisationAlgNode : public algorithm_base::IriBaseAlgorithm<LaserLocalisationAlgorithm>
{
  private:
    tf::TransformBroadcaster tfb_;
    tf::TransformListener    tfl_;

    tf::Transform T_mapa_path_;
    tf::Transform T_path_base_;
    tf::Transform T_base_odom_;
    tf::Transform T_mapa_odom_;
    tf::Transform T_mapa_odom_init_est_;

    std::string map_frame_;
    std::string odom_frame_;

    void calc_T_mapa_odom_(sensor_msgs::LaserScan const& scan_ref,
                           sensor_msgs::LaserScan const& scan_sens,
                           geometry_msgs::Pose const& pose_ref);

    // [publisher attributes]
    ros::Publisher pose_publisher_;
    geometry_msgs::PoseWithCovarianceStamped PoseWithCovarianceStamped_msg_;

    // [subscriber attributes]
    ros::Subscriber scan_ref_subscriber_;
    void scan_ref_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex scan_ref_mutex_;
    sensor_msgs::LaserScan scan_ref_;
    bool received_ref_;

    ros::Subscriber scan_sens_subscriber_;
    void scan_sens_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex scan_sens_mutex_;
    sensor_msgs::LaserScan scan_sens_;
    bool received_sens_;

    ros::Subscriber pose_ref_subscriber_;
    void pose_ref_callback(const geometry_msgs::Pose::ConstPtr& msg);
    CMutex pose_ref_mutex_;
    geometry_msgs::Pose pose_ref_;
    bool received_pose_ref_;

    // [service attributes]
    ros::ServiceServer estimate_server_;
    bool estimateCallback(iri_laser_localisation::DoEstimation::Request &req, iri_laser_localisation::DoEstimation::Response &res);
    CMutex estimate_mutex_;
    ros::ServiceServer localise_server_;
    bool localiseCallback(iri_laser_localisation::DoLocalisation::Request &req, iri_laser_localisation::DoLocalisation::Response &res);
    CMutex localise_mutex_;

    // [client attributes]
    ros::ServiceClient get_relative_pose_client_;
    iri_laser_icp::GetRelativePose get_relative_pose_srv_;

    // [action server attributes]

    // [action client attributes]

  public:
    LaserLocalisationAlgNode(void);

    ~LaserLocalisationAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    void ROS_INFO_XYR(const std::string & str,const tf::Transform & tftrans);

    // [diagnostic functions]

    // [test functions]
};

#endif