rawlog_record_node.h

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/***********************************************************************************
 * Revised BSD License                                                             *
 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
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#ifndef MRPT_RAWLOG_RECORD_NODE_H
#define MRPT_RAWLOG_RECORD_NODE_H

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/LaserScan.h>
#include <dynamic_reconfigure/server.h>
#include "mrpt_rawlog/MotionConfig.h"
#include "mrpt_rawlog_record/rawlog_record.h"

class RawlogRecordNode : public RawlogRecord {
    MRPT_ROS_LOG_MACROS;
public:
        struct ParametersNode : public Parameters{
        static const int MOTION_MODEL_GAUSSIAN = 0;
        static const int MOTION_MODEL_THRUN = 1;
                ParametersNode();
        ros::NodeHandle node;
        void callbackParameters (mrpt_rawlog::MotionConfig &config, uint32_t level );
        dynamic_reconfigure::Server<mrpt_rawlog::MotionConfig> reconfigureServer_;
        dynamic_reconfigure::Server<mrpt_rawlog::MotionConfig>::CallbackType reconfigureFnc_;        
                void update(const unsigned long &loop_count);
            double rate;
        int parameter_update_skip;
        std::string tf_prefix;
        std::string odom_frame_id;
        std::string base_frame_id;
        };
    
    RawlogRecordNode ( ros::NodeHandle &n );
    ~RawlogRecordNode();
    void init ();
    void loop ();
    void callbackLaser (const sensor_msgs::LaserScan&);    
private: //functions
    ParametersNode *param();
    void update ();
    void updateLaserPose (std::string frame_id);
    ros::Subscriber subLaser0_;
    ros::Subscriber subLaser1_;
    ros::Subscriber subLaser2_;
    tf::TransformListener listenerTF_;
    std::map<std::string, mrpt::poses::CPose3D> laser_poses_;
    ros::NodeHandle n_;
    unsigned long loop_count_;
    bool waitForTransform(mrpt::poses::CPose3D &des, const std::string& target_frame, const std::string& source_frame, const ros::Time& time, const ros::Duration& timeout, const ros::Duration& polling_sleep_duration = ros::Duration(0.01));


};

#endif // MRPT_RAWLOG_RECORD_NODE_H