wrinkled_map_alg_node.cpp

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#include "wrinkled_map_alg_node.h"

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

  // [init publishers]
  this->heatmap_pointcloud_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud2>("wrinkled_point_cloud", 1);
  
  // [init subscribers]
  this->normal_desc_subscriber_ = this->public_node_handle_.subscribe("descs", 1, &WrinkledMapAlgNode::wrinkleCallback, this);
  
  // [init services]
  this->wrinkle_server_ = this->public_node_handle_.advertiseService("wrinkle", &WrinkledMapAlgNode::wrinkleSrvCallback, this);
  
  // [init clients]
  ndesc_pc_service_client_ = this->public_node_handle_.serviceClient<normal_descriptor_node::ndesc_pc_service>("ndesc_pc_service");
  
  // [init action servers]
  
  // [init action clients]
}

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

void WrinkledMapAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  //ndesc_pc_service_srv.request.data = my_var; 
  //ROS_INFO("WrinkledMapAlgNode:: Sending New Request!"); 
  //if (ndesc_pc_service_client_.call(ndesc_pc_service_srv)) 
  //{ 
    //ROS_INFO("WrinkledMapAlgNode:: Response: %s", ndesc_pc_service_srv.response.result); 
  //} 
  //else 
  //{ 
    //ROS_INFO("WrinkledMapAlgNode:: Failed to Call Server on topic "ndesc_pc_service""); 
  //}
  
  // [fill action structure and make request to the action server]

  // [publish messages]
}

/*  [subscriber callbacks] */
void WrinkledMapAlgNode::wrinkleCallback(const normal_descriptor_node::ndesc_pc &descs)
{
  pcl::PointCloud<pcl::PointXYZRGB> hmap;
  this->alg_.compute_entropy_wrinkled_map(descs, hmap);
  pcl::toROSMsg(hmap, this->cloud_out_);
  //publish cloud_out
  this->cloud_out_.header = descs.header;
  this->heatmap_pointcloud_publisher_.publish(this->cloud_out_);
  ROS_INFO("wrinkle map published");
  
}


/*  [service callbacks] */
bool WrinkledMapAlgNode::wrinkleSrvCallback(iri_wrinkled_map::wrinkle::Request &req, iri_wrinkled_map::wrinkle::Response &res) 
{ 
  ROS_INFO("WrinkledMapAlgNode::wrinkleCallback: New Request Received!"); 
  pcl::PointCloud<pcl::PointXYZRGB> hmap;
  this->ndesc_pc_service_srv_.request.cloth_cloud=req.cloth_cloud;
  if(ndesc_pc_service_client_.call(ndesc_pc_service_srv_))
  {
    this->alg_.compute_entropy_wrinkled_map(ndesc_pc_service_srv_.response.ndesc_pc_msg, hmap); 
    pcl::toROSMsg(hmap, res.score_map);
    res.score_map.header = req.cloth_cloud.header;
  }
  else
  {
    return false;
  }
  return true;
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void WrinkledMapAlgNode::addNodeDiagnostics(void)
{
}

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