gazebo_ros_block_laser.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 laser controller.
 * Author: Nathan Koenig
 * Date: 01 Feb 2007
 * SVN: $Id: gazebo_ros_block_laser.hh 6656 2008-06-20 22:52:19Z natepak $
 */

#ifndef GAZEBO_ROS_BLOCK_LASER_HH
#define GAZEBO_ROS_BLOCK_LASER_HH

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

#include "sdf/interface/Param.hh"
#include "physics/physics.hh"
#include "transport/TransportTypes.hh"
#include "msgs/MessageTypes.hh"
#include "common/Time.hh"
#include "common/Plugin.hh"
#include "sensors/SensorTypes.hh"
#include "plugins/RayPlugin.hh"

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

#include <sensor_msgs/PointCloud.h>

namespace gazebo
{

  class GazeboRosBlockLaser : public RayPlugin
  {
    public: GazeboRosBlockLaser();

    public: ~GazeboRosBlockLaser();

    public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);

    protected: virtual void OnNewLaserScans();

    private: void PutLaserData(common::Time &_updateTime);

    private: common::Time last_update_time_;

    private: int laser_connect_count_;
    private: void LaserConnect();
    private: void LaserDisconnect();

    // Pointer to the model
    private: physics::WorldPtr world_;
    private: sensors::SensorPtr parent_sensor_;
    private: sensors::RaySensorPtr parent_ray_sensor_;

    private: ros::NodeHandle* rosnode_;
    private: ros::Publisher pub_;

    private: sensor_msgs::PointCloud cloud_msg_;
   
    private: std::string topic_name_;

    private: std::string frame_name_;

    private: double gaussian_noise_;

    private: double GaussianKernel(double mu,double sigma);

    private: boost::mutex lock;

    //private: ParamT<double> *hokuyoMinIntensityP;
    private: double hokuyo_min_intensity_;

    private: double update_rate_;

    private: std::string robot_namespace_;

    // Custom Callback Queue
    private: ros::CallbackQueue laser_queue_;
    private: void LaserQueueThread();
    private: boost::thread callback_laser_queue_thread_;

    // subscribe to world stats
    private: transport::NodePtr node_;
    private: common::Time sim_time_;
    public: void OnStats( const boost::shared_ptr<msgs::WorldStatistics const> &_msg);

  };

}

#endif