auto_docking_ros.hpp
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00001 
00009 /*****************************************************************************
00010 ** Ifdefs
00011 *****************************************************************************/
00012 
00013 #ifndef AUTO_DOCKING_ROS_HPP_
00014 #define AUTO_DOCKING_ROS_HPP_
00015 
00016 /*****************************************************************************
00017 ** Includes
00018 *****************************************************************************/
00019 
00020 #include <ros/ros.h>
00021 #include <actionlib/server/simple_action_server.h>
00022 #include <kobuki_msgs/AutoDockingAction.h>
00023 
00024 #include <message_filters/subscriber.h>
00025 #include <message_filters/time_synchronizer.h>
00026 #include <message_filters/synchronizer.h>
00027 #include <message_filters/sync_policies/approximate_time.h>
00028 
00029 #include <std_msgs/String.h>
00030 #include <nav_msgs/Odometry.h>
00031 #include <kobuki_msgs/SensorState.h>
00032 #include <kobuki_msgs/DockInfraRed.h>
00033 
00034 #include <sstream>
00035 #include <vector>
00036 #include <ecl/geometry/legacy_pose2d.hpp>
00037 #include <ecl/linear_algebra.hpp>
00038 #include <kdl/frames.hpp>
00039 #include <kdl_conversions/kdl_msg.h>
00040 
00041 #include <kobuki_dock_drive/dock_drive.hpp>
00042 
00043 namespace kobuki
00044 {
00045 
00046 typedef message_filters::sync_policies::ApproximateTime<
00047   nav_msgs::Odometry,
00048   kobuki_msgs::SensorState,
00049   kobuki_msgs::DockInfraRed
00050 > SyncPolicy;
00051 
00052 class AutoDockingROS
00053 {
00054 public:
00055 //  AutoDockingROS();
00056   AutoDockingROS(std::string name);
00057 //  AutoDockingROS(ros::NodeHandle& nh);
00058 //  AutoDockingROS(ros::NodeHandle& nh, std::string name);
00059   ~AutoDockingROS();
00060 
00061   bool init(ros::NodeHandle& nh);
00062   void spin();
00063 
00064 private:
00065   AutoDockingROS* self;
00066   DockDrive dock_;
00067 
00068   std::string name_;
00069   bool shutdown_requested_;
00070 
00071   ros::NodeHandle nh_;
00072   actionlib::SimpleActionServer<kobuki_msgs::AutoDockingAction> as_;
00073 
00074   kobuki_msgs::AutoDockingGoal goal_;
00075   kobuki_msgs::AutoDockingFeedback feedback_;
00076   kobuki_msgs::AutoDockingResult result_;
00077 
00078   ros::Subscriber debug_;
00079   ros::Publisher velocity_commander_, motor_power_enabler_, debug_jabber_;
00080 
00081   boost::shared_ptr<message_filters::Subscriber<nav_msgs::Odometry> > odom_sub_;
00082   boost::shared_ptr<message_filters::Subscriber<kobuki_msgs::DockInfraRed> > ir_sub_;
00083   boost::shared_ptr<message_filters::Subscriber<kobuki_msgs::SensorState> > core_sub_;
00084   boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00085 
00086   void goalCb();
00087   void preemptCb();
00088 
00089   void syncCb(const nav_msgs::OdometryConstPtr& odom,
00090               const kobuki_msgs::SensorStateConstPtr& core,
00091               const kobuki_msgs::DockInfraRedConstPtr& ir);
00092   void debugCb(const std_msgs::StringConstPtr& msg);
00093 };
00094 
00095 } //namespace kobuki
00096 #endif /* AUTO_DOCKING_ROS_HPP_ */
00097 


kobuki_auto_docking
Author(s): Younghun Ju
autogenerated on Thu Jun 6 2019 17:37:33