lasers_to_pointcloud_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 _lasers_to_pointcloud_alg_node_h_
#define _lasers_to_pointcloud_alg_node_h_

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

#include <tf/transform_listener.h>
#include <laser_geometry/laser_geometry.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/ros/conversions.h>

#include <pcl_ros/transforms.h>

// [publisher subscriber headers]
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>

// [service client headers]

// [action server client headers]

class LasersToPointcloudAlgNode : public algorithm_base::IriBaseAlgorithm<LasersToPointcloudAlgorithm>
{
  private:
    laser_geometry::LaserProjection laser_projector_;
    tf::TransformListener tfl_;
    uint counter_;

    // [publisher attributes]
    ros::Publisher cloud_publisher_;
    sensor_msgs::PointCloud2 PointCloud2_msg_;

    // [subscriber attributes]
    ros::Subscriber scan2_subscriber_;
    void scan2_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex scan2_mutex_;
    bool new_scan2_;
    sensor_msgs::PointCloud2 cloud2_;

    ros::Subscriber scan1_subscriber_;
    void scan1_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex scan1_mutex_;
    bool new_scan1_;
    sensor_msgs::PointCloud2 cloud1_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

  public:
    LasersToPointcloudAlgNode(void);

    ~LasersToPointcloudAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]

    // [test functions]
};

#endif