pointcloud_to_octomap_alg_node.cpp

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#include "pointcloud_to_octomap_alg_node.h"
#include <octomap/math/Vector3.h>

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

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  this->store_octomap_server_ = this->public_node_handle_.advertiseService("store_octomap", &PointcloudToOctomapAlgNode::store_octomapCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

PointcloudToOctomapAlgNode::~PointcloudToOctomapAlgNode(void)
{
  // [free dynamic memory]
}

void PointcloudToOctomapAlgNode::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] */

/*  [service callbacks] */
bool PointcloudToOctomapAlgNode::store_octomapCallback(iri_perception_msgs::StorePointCloud2::Request &req, iri_perception_msgs::StorePointCloud2::Response &res) 
{ 
  ROS_INFO("PointcloudToOctomapAlgNode::store_octomapCallback: New Request Received!"); 

  //use appropiate mutex to shared variables if necessary 
  alg_.lock(); 
  store_octomap_mutex_.enter(); 

  // point_cloud 
  sensor_msgs::PointCloud2::ConstPtr point_cloud;
  point_cloud = boost::make_shared<sensor_msgs::PointCloud2>(req.point_cloud);

  // sensor_origin
  octomap::point3d sensor_origin(0.0f, 0.0f, 0.0f);
  // frame_origin
  octomath::Vector3 trans(req.sensor_pose.pose.position.x, req.sensor_pose.pose.position.y, req.sensor_pose.pose.position.z); 
  octomath::Quaternion rot(req.sensor_pose.pose.orientation.w, req.sensor_pose.pose.orientation.x, req.sensor_pose.pose.orientation.y, req.sensor_pose.pose.orientation.z); 
  octomap::pose6d frame_origin(trans, rot);

  if(!alg_.isRunning(req.file_name.data, point_cloud, sensor_origin, frame_origin)) 
  { 
    ROS_INFO("PointcloudToOctomapAlgNode::store_octomapCallback: ERROR: alg is not on run mode yet."); 
  } 

  //unlock previously blocked shared variables 
  alg_.unlock(); 
  store_octomap_mutex_.exit(); 

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void PointcloudToOctomapAlgNode::addNodeDiagnostics(void)
{
}

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