marker_server.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <ros/ros.h>
#include <interactive_markers/interactive_marker_server.h>
#include <string.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Pose.h>
#include <tf/tf.h>

using namespace visualization_msgs;

class MarkerServer
{
  public:
    MarkerServer()
      : nh("~"), server("twist_marker_server")
    {
      std::string cmd_vel_topic;

      nh.param<std::string>("link_name", link_name, "/base_link");
      nh.param<std::string>("robot_name", robot_name, "robot");
      nh.param<double>("linear_scale", linear_drive_scale, 1.0);
      nh.param<double>("angular_scale", angular_drive_scale, 2.2);
      nh.param<double>("marker_size_scale", marker_size_scale, 1.0);

      vel_pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
      createInteractiveMarkers();

      ROS_INFO("[twist_marker_server] Initialized.");
    }

    void processFeedback(
        const InteractiveMarkerFeedbackConstPtr &feedback );
  
  private:
    void createInteractiveMarkers();
  
    ros::NodeHandle nh;
    ros::Publisher vel_pub;
    interactive_markers::InteractiveMarkerServer server;
    
    double linear_drive_scale;
    double angular_drive_scale;

    double marker_size_scale;
    
    std::string link_name;
    std::string robot_name;
};

void MarkerServer::processFeedback(
    const InteractiveMarkerFeedbackConstPtr &feedback )
{
  // Handle angular change (yaw is the only direction in which you can rotate)
  double yaw = tf::getYaw(feedback->pose.orientation);
  
  geometry_msgs::Twist vel;
  vel.angular.z = angular_drive_scale * yaw;
  vel.linear.x = linear_drive_scale * feedback->pose.position.x;

  vel_pub.publish(vel);    
  
  // Make the marker snap back to robot
  server.setPose(robot_name + "_twist_marker", geometry_msgs::Pose());
  
  server.applyChanges();
}

void MarkerServer::createInteractiveMarkers()
{ 
  // create an interactive marker for our server
  InteractiveMarker int_marker;
  int_marker.header.frame_id = link_name;
  int_marker.name = robot_name + "_twist_marker";
  int_marker.description = "twist controller for " + robot_name;
  int_marker.scale = marker_size_scale;
  
  InteractiveMarkerControl control;

  control.orientation_mode = InteractiveMarkerControl::FIXED;
  control.orientation.w = 1;
  control.orientation.x = 1;
  control.orientation.y = 0;
  control.orientation.z = 0;
  control.name = "move_x";
  control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
  int_marker.controls.push_back(control);

  control.orientation.w = 1;
  control.orientation.x = 0;
  control.orientation.y = 1;
  control.orientation.z = 0;
  control.name = "rotate_z";
  
  control.interaction_mode = InteractiveMarkerControl::MOVE_ROTATE;
  //control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
  int_marker.controls.push_back(control);

  // Commented out for non-holonomic robot. If holonomic, can move in y.
  /*control.orientation.w = 1;
  control.orientation.x = 0;
  control.orientation.y = 0;
  control.orientation.z = 1;
  control.name = "move_y";
  control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
  int_marker.controls.push_back(control);*/
  
  server.insert(int_marker, boost::bind( &MarkerServer::processFeedback, this, _1 ));
  
  server.applyChanges();
}


int main(int argc, char** argv)
{
  ros::init(argc, argv, "marker_server");
  MarkerServer server;
  
  ros::spin();
}