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 _leaf_probing_point_alg_node_h_ 00026 #define _leaf_probing_point_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "leaf_probing_point_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <sensor_msgs/PointCloud2.h> 00033 #include <sensor_msgs/Image.h> 00034 00035 // [service client headers] 00036 #include <std_srvs/Empty.h> 00037 00038 // [action server client headers] 00039 00040 // [PCL_ROS] 00041 #include "pcl_ros/point_cloud.h" 00042 #include "pcl/point_types.h" 00043 #include "pcl/ros/register_point_struct.h" 00044 00045 #include "iri_leaf_segmentation/GetClusteredImage.h" 00046 #include "iri_leaf_fitting/GetConfidenceLeafFitting.h" 00047 00052 class LeafProbingPointAlgNode : public algorithm_base::IriBaseAlgorithm<LeafProbingPointAlgorithm> 00053 { 00054 private: 00055 00056 //pcl::PointCloud<pcl::PointXYZRGB> pcl_xyzrgb_; 00057 sensor_msgs::PointCloud2::ConstPtr pcl_xyzrgb_; 00058 00059 // [publisher attributes] 00060 ros::Publisher segmented_image_publisher_; 00061 sensor_msgs::Image Image_msg_; 00062 00063 // [subscriber attributes] 00064 ros::Subscriber input_pcl_subscriber_; 00065 void input_pcl_callback(const sensor_msgs::PointCloud2::ConstPtr& msg); 00066 CMutex input_pcl_mutex_; 00067 00068 // [service attributes] 00069 ros::ServiceServer leaf_probing_srv_; 00070 bool leaf_probing_srv_callback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res); 00071 00072 // [client attributes] 00073 ros::ServiceClient leaf_segmentation_client_; 00074 ros::ServiceClient leaf_fitting_client_; 00075 00076 // [action server attributes] 00077 00078 // [action client attributes] 00079 00080 public: 00087 LeafProbingPointAlgNode(void); 00088 00095 ~LeafProbingPointAlgNode(void); 00096 00097 protected: 00110 void mainNodeThread(void); 00111 00124 void node_config_update(Config &config, uint32_t level); 00125 00132 void addNodeDiagnostics(void); 00133 00134 // [diagnostic functions] 00135 00136 // [test functions] 00137 }; 00138 00139 #endif