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 _zyonz_image_based_leaf_probing_alg_node_h_ 00026 #define _zyonz_image_based_leaf_probing_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "zyonz_image_based_leaf_probing_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <sensor_msgs/Image.h> 00033 #include <sensor_msgs/PointCloud2.h> 00034 00035 // [service client headers] 00036 #include <zyonz_msgs/GetProbingSteps.h> 00037 #include "pcl_ros/point_cloud.h" 00038 #include "pcl/point_types.h" 00039 #include "pcl/io/pcd_io.h" 00040 00041 #include <cv_bridge/cv_bridge.h> 00042 00043 // [action server client headers] 00044 00049 class ZyonzImageBasedLeafProbingAlgNode : public algorithm_base::IriBaseAlgorithm<ZyonzImageBasedLeafProbingAlgorithm> 00050 { 00051 private: 00052 // [publisher attributes] 00053 ros::Publisher seg_image_publisher_; 00054 ros::Publisher leaf_confidence_image_publisher_; 00055 //sensor_msgs::Image Image_msg_; 00056 cv_bridge::CvImagePtr cv_ptr_; 00057 00058 // [subscriber attributes] 00059 00060 // [service attributes] 00061 ros::ServiceServer leaf_probing_srv_server_; 00062 bool leaf_probing_srvCallback(zyonz_msgs::GetProbingSteps::Request &req, zyonz_msgs::GetProbingSteps::Response &res); 00063 CMutex leaf_probing_srv_mutex_; 00064 00065 // [client attributes] 00066 00067 // [action server attributes] 00068 00069 // [action client attributes] 00070 00071 public: 00078 ZyonzImageBasedLeafProbingAlgNode(void); 00079 00086 ~ZyonzImageBasedLeafProbingAlgNode(void); 00087 00088 protected: 00101 void mainNodeThread(void); 00102 00115 void node_config_update(Config &config, uint32_t level); 00116 00123 void addNodeDiagnostics(void); 00124 00125 // [diagnostic functions] 00126 00127 // [test functions] 00128 }; 00129 00130 #endif