rawlog_play_node.h
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00001 /***********************************************************************************
00002  * Revised BSD License                                                             *
00003  * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
00004  * All rights reserved.                                                            *
00005  *                                                                                 *
00006  * Redistribution and use in source and binary forms, with or without              *
00007  * modification, are permitted provided that the following conditions are met:     *
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 the Vienna University of Technology nor the           *
00014  *       names of its contributors may be used to endorse or promote products      *
00015  *       derived from this software without specific prior written permission.     *
00016  *                                                                                 *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
00018  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED   *
00019  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE          *
00020  * DISCLAIMED. IN NO EVENT SHALL Markus Bader BE LIABLE FOR ANY                    *
00021  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES      *
00022  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;    *
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00024  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT      *
00025  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS   *
00026  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                    *                       *
00027  ***********************************************************************************/
00028 
00029 #ifndef MRPT_RAWLOG_PLAY_NODE_H
00030 #define MRPT_RAWLOG_PLAY_NODE_H
00031 
00032 #include "ros/ros.h"
00033 #include <tf/transform_broadcaster.h>
00034 #include <tf/transform_listener.h>
00035 #include <nav_msgs/Odometry.h>
00036 #include <sensor_msgs/LaserScan.h>
00037 #include <dynamic_reconfigure/server.h>
00038 #include "mrpt_rawlog/MotionConfig.h"
00039 #include "mrpt_rawlog_play/rawlog_play.h"
00040 
00042 class RawlogPlayNode : public RawlogPlay {
00043 public:
00044     struct ParametersNode : public Parameters {
00045         static const int MOTION_MODEL_GAUSSIAN = 0;
00046         static const int MOTION_MODEL_THRUN = 1;
00047         ParametersNode();
00048         ros::NodeHandle node;
00049         void callbackParameters (mrpt_rawlog::MotionConfig &config, uint32_t level );
00050         dynamic_reconfigure::Server<mrpt_rawlog::MotionConfig> reconfigureServer_;
00051         dynamic_reconfigure::Server<mrpt_rawlog::MotionConfig>::CallbackType reconfigureFnc_;
00052         void update(const unsigned long &loop_count);
00053         double rate;
00054         std::string base_frame;
00055         std::string odom_frame;
00056         std::string tf_prefix;
00057         int parameter_update_skip;
00058     };
00059 
00060     RawlogPlayNode ( ros::NodeHandle &n );
00061     ~RawlogPlayNode();
00062     void init ();
00063     void loop ();
00064 private: //functions
00065     ParametersNode *param();
00066     bool nextEntry();
00067 private: // variables
00068     ros::NodeHandle n_;
00069     unsigned long loop_count_;
00070     sensor_msgs::LaserScan msg_laser_;
00071     nav_msgs::Odometry msg_odom_;
00072     ros::Publisher pub_laser_;
00073     std::string odom_frame_;
00074     std::string base_frame_;
00075     tf::TransformBroadcaster tf_broadcaster_;
00076 
00077 };
00078 
00079 #endif // MRPT_RAWLOG_PLAY_NODE_H


mrpt_rawlog
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autogenerated on Mon Aug 11 2014 11:23:25