panorama.h
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00001 /*
00002  * Copyright (c) 2013, Yujin Robot.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Yujin Robot nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00040 /*****************************************************************************
00041  ** Ifdefs
00042  *****************************************************************************/
00043 
00044 #ifndef PANORAMA_H_
00045 #define PANORAMA_H_
00046 
00047 #include <ros/ros.h>
00048 #include <actionlib/client/simple_action_client.h>
00049 #include <actionlib/client/terminal_state.h>
00050 #include <pano_ros/PanoCaptureAction.h>
00051 #include <image_transport/image_transport.h>    
00052 #include <sensor_msgs/Image.h>          
00053 #include <std_msgs/Empty.h>             
00054 #include <std_msgs/String.h>
00055 #include <nav_msgs/Odometry.h>          
00056 #include <geometry_msgs/Twist.h>        
00057 #include "geometry.h"
00058 #include <turtlebot_panorama/TakePano.h>
00059 
00060 #include <std_srvs/Empty.h>
00061 
00062 namespace turtlebot_panorama
00063 {
00064 
00068 class PanoApp
00069 {
00070 public:
00071   PanoApp();
00072   ~PanoApp();
00073 
00074   void init();
00075   void spin();
00076 
00081   void log(std::string msg);
00082 
00083 private:
00084   ros::NodeHandle nh;
00085   ros::NodeHandle priv_nh;
00086   std::map<std::string, std::string> params;
00087   std_msgs::Empty empty_msg;
00088   geometry_msgs::Twist cmd_vel, zero_cmd_vel;
00089   double snap_interval;
00090   double angle, last_angle, given_angle, ang_vel_cur;
00091   // panorama creation mode (continuously rotating while taking snapshots or rotate, stop, snapshot, rotate, ...)
00092   bool continuous;
00093 
00094   // public API
00095   // Service for starting the creation of a panorama picture
00096   ros::ServiceServer srv_start_pano;
00097   // Subscriber for starting the creation of a panorama picture
00098   ros::Subscriber sub_start_pano;
00099   // Subscriber for stopping the creation of a panorama picture
00100   ros::Subscriber sub_stop_pano;
00101   // Sends out the result of the stitched panorama picture
00102   image_transport::Publisher pub_stitched;
00103 
00104   // worker functions
00105   // for extra logging out via a ROS topic
00106   ros::Publisher pub_log;
00107   // for turning the robot
00108   ros::Publisher pub_cmd_vel;
00109   // for retrieving the odometry of robot
00110   ros::Subscriber sub_odom;
00111 
00112   // pano_ros API
00113   // client for the pano_ros action server (does the actual work)
00114   actionlib::SimpleActionClient<pano_ros::PanoCaptureAction>* pano_ros_client;
00115   // trigger snapshot taking by pano_ros
00116   ros::Publisher pub_action_snap;
00120   ros::Publisher pub_action_stop;
00121   // recevices the stitched image from pano_ros
00122   image_transport::Subscriber sub_stitched;
00126   bool is_active;
00132   bool go_active;
00136   int default_mode;
00140   double default_pano_angle;
00144   double default_snap_interval;
00148   double default_rotation_velocity;
00149 
00156   bool takePanoServiceCb(TakePano::Request& request, TakePano::Response& response);
00157 //  bool takePanoServiceCb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
00158 
00163   void takePanoCb(const std_msgs::EmptyConstPtr& msg);
00164 
00169   void stopPanoCb(const std_msgs::EmptyConstPtr& msg);
00170 
00174   void snap();
00175 
00179   void rotate();
00180 
00184   bool hasReachedAngle();
00185 
00190   void odomCb(const nav_msgs::OdometryConstPtr& msg);
00191 
00195   void startPanoAction();
00196 
00200   void stopPanoAction();
00201   // Note: pano_ros throws an error, when it hasn't taken a snapshot yet.
00202   // TODO: Try to find a way to check, when stitching is possible and when the action goal needs to be cancelled.
00203 
00207   void activeCb();
00208 
00213   void feedbackCb(const pano_ros::PanoCaptureFeedbackConstPtr& feedback);
00214 
00220   void doneCb(const actionlib::SimpleClientGoalState& state, const pano_ros::PanoCaptureResultConstPtr& result);
00221 
00226   void stitchedImageCb(const sensor_msgs::ImageConstPtr& msg);
00227 };
00228 
00229 } //namespace turtlebot_panorama
00230 
00231 #endif /* PANORAMA_H_ */


turtlebot_panorama
Author(s): Younhoon Ju, Jihoon Lee and Marcus Liebhardt
autogenerated on Mon Oct 6 2014 08:08:12