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 _obstacle_detection_alg_node_h_ 00026 #define _obstacle_detection_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "obstacle_detection_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <sensor_msgs/PointCloud2.h> 00033 00034 // [service client headers] 00035 00036 // [action server client headers] 00037 00042 class ObstacleDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<ObstacleDetectionAlgorithm> 00043 { 00044 private: 00045 // [publisher attributes] 00046 ros::Publisher pub_cloud_publisher_; 00047 sensor_msgs::PointCloud2 PointCloud2_msg_; 00048 00049 // [subscriber attributes] 00050 ros::Subscriber cloud_raw_subscriber_; 00051 void cloud_raw_callback(const sensor_msgs::PointCloud2::ConstPtr& msg); 00052 CMutex cloud_raw_mutex_; 00053 00054 00055 // [service attributes] 00056 00057 // [client attributes] 00058 00059 // [action server attributes] 00060 00061 // [action client attributes] 00062 00063 public: 00070 ObstacleDetectionAlgNode(void); 00071 00078 ~ObstacleDetectionAlgNode(void); 00079 00080 protected: 00093 void mainNodeThread(void); 00094 00107 void node_config_update(Config &config, uint32_t level); 00108 00115 void addNodeDiagnostics(void); 00116 00117 // [diagnostic functions] 00118 00119 // [test functions] 00120 }; 00121 00122 #endif