FakeObjectRecognizer.h

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#ifndef GAZEBO_TEST_TOOLS_FAKEOBJECTRECOGNISER_H
#define GAZEBO_TEST_TOOLS_FAKEOBJECTRECOGNISER_H

#include <ros/ros.h>

#include <object_msgs/Object.h>
#include <object_msgs/ObjectInfo.h>
#include <object_msgs/ObjectInfoRequest.h>
#include <object_msgs/ObjectInfoResponse.h>

#include <gazebo_test_tools/RecognizeGazeboObject.h>
#include <gazebo_test_tools/RecognizeGazeboObjectRequest.h>
#include <gazebo_test_tools/RecognizeGazeboObjectResponse.h>

#include <geometry_msgs/Pose.h>
#include <boost/thread/mutex.hpp>

namespace gazebo_test_tools
{

class FakeObjectRecognizer {
private:

    typedef object_msgs::Object ObjectMsg;
    typedef object_msgs::ObjectInfo ObjectInfoMsg;

public:

    FakeObjectRecognizer();
    virtual ~FakeObjectRecognizer();

private:

    bool recognizeObject(gazebo_test_tools::RecognizeGazeboObject::Request  &req, gazebo_test_tools::RecognizeGazeboObject::Response &res);

    void publishRecognitionEvent(const ros::TimerEvent& e); 

    bool waitForQueryObjectInfo(const std::string& name, object_msgs::Object& object,
        bool include_geometry,  float timeout, float checkStep, bool printErrors);

    bool queryObjectInfo(const std::string& name, object_msgs::Object& object,
        bool include_geometry, bool printErrors);

    std::string OBJECTS_TOPIC;

    // service name/topic to request information about
    // objects with object_msgs/ObjectInfo.srv
    std::string SERVICE_REQUEST_OBJECT_TOPIC;

    // service which will be offered to recognise
    // an object, of type gazebo_test_tools/TriggerRecognition.srv.
    std::string SERVICE_RECOGNISE_OBJECT_TOPIC;

    
    // service of under which a object_msgs_tools/RegisterObject can
    // be sent in order to start publishing /tf information about an
    // object.
    std::string SERVICE_REGISTER_OBJECT_TF_TOPIC;

    // Recognised objects which are to be continuously published
    // as recognised are published at this rate.
    float PUBLISH_RECOGNISED_OBJECT_RATE;

    ros::Publisher object_pub;
    ros::ServiceClient object_info_client;
    ros::ServiceClient register_object_tf_client;
    
    ros::ServiceServer recognize_object_srv;

    // all objects which were set to be continuously published
    std::set<std::string> addedObjects;
    
    // mutex for addedObjects
    boost::mutex addedObjectsMtx;

    ros::Timer publishTimer;

    ros::NodeHandle node;
};

}  // namespace gazebo_test_tools

#endif  // GAZEBO_TEST_TOOLS_FAKEOBJECTRECOGNISER_H