transform_pose_alg_node.cpp

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#include "transform_pose_alg_node.h"

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

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  this->transform_pose_server_ = this->public_node_handle_.advertiseService("transform_pose", &TransformPoseAlgNode::transform_poseCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void TransformPoseAlgNode::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 TransformPoseAlgNode::transform_poseCallback(estirabot_msgs::TransformPose::Request &req, estirabot_msgs::TransformPose::Response &res) 
{ 
        ROS_DEBUG("TransformPoseAlgNode::transform_poseCallback: New Request Received!"); 

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

        //ROS_INFO("TransformPoseAlgNode::transform_poseCallback: Processin New Request!"); 
        //do operations with req and output on res 
        geometry_msgs::PoseStamped pose_wam;
        ros::Time common_time;
        std::string error_aux;
        
        tf_listener.getLatestCommonTime(req.target_frame, req.orig_pose_st.header.frame_id, common_time, &error_aux);
        tf_listener.transformPose(req.target_frame, common_time, req.orig_pose_st, req.orig_pose_st.header.frame_id, res.target_pose_st);
        
        //unlock previously blocked shared variables 
        //this->alg_.unlock(); 
        //this->transform_pose_mutex_.exit(); 

        return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void TransformPoseAlgNode::addNodeDiagnostics(void)
{
}

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