my_labeler_alg_node.cpp

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#include "my_labeler_alg_node.h"

MyLabelerAlgNode::MyLabelerAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<MyLabelerAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  
  // [init subscribers]
  this->scan_subscriber_ = this->public_node_handle_.subscribe("scan", 100, &MyLabelerAlgNode::scan_callback, this);
  this->goal_subscriber_ = this->public_node_handle_.subscribe("goal", 100, &MyLabelerAlgNode::goal_callback, this);
  
  // [init services]
  
  // [init clients]
        std::string homepath = getenv("HOME");
        string fileString = homepath + "/Desktop/social_forces_data/traj.txt";
        file_out_ = fopen ( fileString.c_str() , "w");  

  
  // [init action servers]
  
  // [init action clients]
}

MyLabelerAlgNode::~MyLabelerAlgNode(void)
{
  // [free dynamic memory]
        //file_out_.close();
        fclose(file_out_);
}

void MyLabelerAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
}

/*  [subscriber callbacks] */
void MyLabelerAlgNode::scan_callback(const sensor_msgs::LaserScan::ConstPtr& msg) 
{ 
  //ROS_INFO("MyLabelerAlgNode::scan_callback: New Message Received"); 


  //use appropiate mutex to shared variables if necessary 
        this->alg_.lock(); 
        this->scan_mutex_.enter(); 

  //std::cout << msg->data << std::endl; 
        bag_time_ = msg->header.stamp.toSec();
  //unlock previously blocked shared variables 
        this->alg_.unlock(); 
        this->scan_mutex_.exit(); 
}
void MyLabelerAlgNode::goal_callback(const geometry_msgs::PoseStamped::ConstPtr& msg) 
{ 
  //ROS_INFO("MyLabelerAlgNode::goal_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  //this->alg_.lock(); 
  //this->goal_mutex_.enter(); 
        ROS_INFO("x = %f , y = %f, t = %lf", msg->pose.position.x , msg->pose.position.y , bag_time_ );
        //file_out_ << " " <<  msg->pose.position.x << " " << msg->pose.position.y << endl;
        //fprintf( file_out_ , "\%  position.x  position.y time\n" );
        fprintf( file_out_ , " %f    %f    %lf\n", msg->pose.position.x , msg->pose.position.y , bag_time_  );
  //std::cout << msg->data << std::endl; 

  //unlock previously blocked shared variables 
  //this->alg_.unlock(); 
  //this->goal_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void MyLabelerAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void MyLabelerAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<MyLabelerAlgNode>(argc, argv, "my_labeler_alg_node");
}