00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #ifndef JSK_PCL_ROS_UTILS_STATIC_POLYGON_ARRAY_PUBLISHER_H_ 00037 #define JSK_PCL_ROS_UTILS_STATIC_POLYGON_ARRAY_PUBLISHER_H_ 00038 00039 #include <ros/ros.h> 00040 #include <ros/names.h> 00041 #include <sensor_msgs/PointCloud2.h> 00042 00043 #include <pcl_ros/pcl_nodelet.h> 00044 #include <jsk_recognition_msgs/PolygonArray.h> 00045 #include <jsk_recognition_msgs/ModelCoefficientsArray.h> 00046 00047 #include <nodelet/nodelet.h> 00048 #include <topic_tools/shape_shifter.h> 00049 00050 #include <message_filters/subscriber.h> 00051 #include <message_filters/time_synchronizer.h> 00052 #include <message_filters/synchronizer.h> 00053 #include <message_filters/sync_policies/approximate_time.h> 00054 00055 #include <jsk_recognition_msgs/Int32Stamped.h> 00056 #include <std_msgs/Header.h> 00057 #include "jsk_recognition_utils/pcl_conversion_util.h" 00058 #include <jsk_topic_tools/connection_based_nodelet.h> 00059 00060 namespace jsk_pcl_ros_utils 00061 { 00062 00063 class StaticPolygonArrayPublisher: 00064 public jsk_topic_tools::ConnectionBasedNodelet 00065 { 00066 public: 00067 typedef message_filters::sync_policies::ApproximateTime< 00068 sensor_msgs::PointCloud2, 00069 jsk_recognition_msgs::Int32Stamped > SyncPolicy; 00070 00071 protected: 00072 ros::Publisher polygon_pub_, coefficients_pub_; 00073 ros::Subscriber sub_; 00074 jsk_recognition_msgs::PolygonArray polygons_; 00075 jsk_recognition_msgs::ModelCoefficientsArray coefficients_; 00076 ros::Timer periodic_timer_; 00077 bool use_periodic_; 00078 bool use_message_; 00079 bool use_trigger_; 00080 double periodic_rate_; // in Hz 00081 std::vector<std::string> frame_ids_; 00082 ros::Timer timer_; 00083 message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_; 00084 message_filters::Subscriber<jsk_recognition_msgs::Int32Stamped> sub_trigger_; 00085 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_; 00086 virtual void onInit(); 00087 virtual void inputCallback(const sensor_msgs::PointCloud2::ConstPtr& msg); 00088 virtual void timerCallback(const ros::TimerEvent& event); 00089 virtual void publishPolygon(const ros::Time& stamp); 00090 virtual bool readPolygonArray(const std::string& param); 00091 virtual double getXMLDoubleValue(XmlRpc::XmlRpcValue val); 00092 virtual PCLModelCoefficientMsg polygonToModelCoefficients(const geometry_msgs::PolygonStamped& polygon); 00093 virtual void triggerCallback(const sensor_msgs::PointCloud2::ConstPtr& input, 00094 const jsk_recognition_msgs::Int32Stamped::ConstPtr& trigger); 00095 virtual void subscribe(); 00096 virtual void unsubscribe(); 00097 private: 00098 }; 00099 00100 } 00101 00102 #endif