teo_plugin.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: ROS interface to a Position2d controller for a Differential drive.
 * Author: Daniel Hewlett (adapted from Nathan Koenig)
 */
#ifndef TEO_PLUGIN_HH
#define TEO_PLUGIN_HH

#include <map>

#include <gazebo/Param.hh>
#include <gazebo/Controller.hh>
#include <gazebo/Model.hh>

// ROS 
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>

// Custom Callback Queue
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>

// Boost
#include <boost/thread.hpp>
#include <boost/bind.hpp>

namespace gazebo
{
    class Joint;
    class Entity;

    class TeoPlugin :
        public Controller
    {

        public:
          TeoPlugin(Entity * parent);
          virtual ~TeoPlugin();

        protected:
          virtual void LoadChild(XMLConfigNode *node);
          virtual void InitChild();
          void ResetChild();
          virtual void UpdateChild();
          virtual void FiniChild();

        private:
          void write_position_data();
          void publish_odometry();

          libgazebo::PositionIface *pos_iface_;
          Model * parent_;

          Joint * joints_[4];

          // Simulation time of the last update
          Time prevUpdateTime_;

          float odomPose[3];
          float odomVel[3];

          bool enable_motors;

          // ROS STUFF
          ros::NodeHandle* rosnode_;
          ros::Publisher pub_;
          ros::Subscriber sub_;
          tf::TransformBroadcaster *transform_broadcaster_;
          nav_msgs::Odometry odom_;
          std::string tf_prefix_;

          boost::mutex lock;

          ParamT<std::string> * robotNamespaceP;
          ParamT<std::string> * topicNameP;
          ParamT<std::string> * frNameP;
          ParamT<std::string> * flNameP;
          ParamT<std::string> * brNameP;
          ParamT<std::string> * blNameP;

          std::string robotNamespace;
          std::string topicName;

          // Custom Callback Queue
          ros::CallbackQueue queue_;
          boost::thread* callback_queue_thread_;
          void QueueThread();

          // DiffDrive stuff
          void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg);

          float vel_x_;
          float rot_z_;
          float previous_displ_;
          bool alive_;
    };
}

#endif