static_polygon_array_publisher.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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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


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:40:52