gazebo_ros_range.h

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/*
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 *  Copyright (c) 2013, PAL Robotics, S.L.
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#ifndef GAZEBO_ROS_RANGE_H
#define GAZEBO_ROS_RANGE_H


#include <string>

#include <boost/bind.hpp>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>
#include <sensor_msgs/Range.h>

#include <gazebo/physics/physics.hh>
#include <gazebo/transport/TransportTypes.hh>
#include <gazebo/msgs/MessageTypes.hh>
#include <gazebo/common/Time.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Events.hh>
#include <gazebo/sensors/SensorTypes.hh>
#include <gazebo/plugins/RayPlugin.hh>

#include <sdf/Param.hh>

namespace gazebo
{

class GazeboRosRange : public RayPlugin
{

    public: GazeboRosRange();

    public: ~GazeboRosRange();

    public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);

    protected: virtual void OnNewLaserScans();

    private: void PutRangeData(common::Time &_updateTime);

    private: int range_connect_count_;
    private: void RangeConnect();
    private: void RangeDisconnect();

    // Pointer to the model
    private: physics::WorldPtr world_;
    private: sensors::SensorPtr parent_sensor_;
    private: sensors::RaySensorPtr parent_ray_sensor_;

    private: ros::NodeHandle* rosnode_;
    private: ros::Publisher pub_;

    private: sensor_msgs::Range range_msg_;

    private: std::string topic_name_;

    private: std::string frame_name_;

    private: std::string radiation_;

    private: double fov_;
    private: double gaussian_noise_;

    private: double GaussianKernel(double mu, double sigma);

    private: boost::mutex lock_;

    private: double hokuyo_min_intensity_;

    private: double update_rate_;
    private: double update_period_;
    private: common::Time last_update_time_;

    private: std::string robot_namespace_;

    private: ros::CallbackQueue range_queue_;
    private: void RangeQueueThread();
    private: boost::thread callback_queue_thread_;

    // deferred load in case ros is blocking
    private: sdf::ElementPtr sdf;
    private: void LoadThread();
    private: boost::thread deferred_load_thread_;
    private: unsigned int seed;
};
}
#endif // GAZEBO_ROS_RANGE_H