laser_joint_processor_node.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, 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 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 CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/


#include <laser_joint_processor/laser_joint_processor.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/subscriber.h>

namespace laser_joint_processor
{

class LaserJointProcessorNode
{
public:
  LaserJointProcessorNode();
  ~LaserJointProcessorNode();

  void configure(const std::vector<std::string>& joint_names, unsigned max_cache_size);

  void jointStateCallback(const sensor_msgs::JointStateConstPtr& joint_state);
private:
  void syncCallback(const calibration_msgs::DenseLaserSnapshotConstPtr& snapshot,
                    const calibration_msgs::CalibrationPatternConstPtr& features);

  void processPair( const calibration_msgs::DenseLaserSnapshotConstPtr& snapshot,
                    const calibration_msgs::CalibrationPatternConstPtr& features);



  boost::mutex mutex_;

  // ROS & Filter Stuff
  ros::NodeHandle nh_;
  ros::Publisher  pub_;
  message_filters::Subscriber<calibration_msgs::DenseLaserSnapshot> snapshot_sub_;
  message_filters::Subscriber<calibration_msgs::CalibrationPattern> features_sub_;
  message_filters::TimeSynchronizer<calibration_msgs::DenseLaserSnapshot,
                                    calibration_msgs::CalibrationPattern> sync_;
  message_filters::Connection sync_connection_;

  // Store the latest queued snapshot & features
  calibration_msgs::DenseLaserSnapshotConstPtr queued_snapshot_;
  calibration_msgs::CalibrationPatternConstPtr queued_features_;

  // Actual processing code
  LaserJointProcessor processor_;
};


}