octree_pa_node.h

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/******************************************************************************
*                                                                             *
* octree_pa_node.h                                                            *
* ================                                                            *
*                                                                             *
*******************************************************************************
*                                                                             *
* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_octomap                                 *
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* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
*******************************************************************************
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* New BSD License                                                             *
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#ifndef __OCTREE_PA_NODE_H
#define __OCTREE_PA_NODE_H

// local headers
#include "octomap_pa/octree_pa_ros.h"
#include "octomap_pa/octree_base_pa_node_parameter.h"
#include "octomap_pa/addcloud_parameter.h"

#include "octomap_pa/OctomapPaFileName.h"
#include "octomap_pa/OctomapPaGetSize.h"

// ros headers
#include <ros/ros.h>

#include <geometry_msgs/Point.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <nav_msgs/Path.h>
#include <std_srvs/Empty.h>

#include <tf/transform_listener.h>

#include <octomap_msgs/Octomap.h>

#include <parameter_pa/parameter_pa_ros.h>

// additional libraries
#include <pcl/point_types.h>

#include <octomap/octomap.h>

// standard headers
#include <string>
#include <vector>

//**************************[cOctreePaNode]************************************
class cOctreePaNode : public cOctreePaRos {
  public:
    cOctreePaNode();

    ~cOctreePaNode();

    void publishOctomap(void);

  protected:

    cOctreeBasePaNodeParameter nodeparams_;
    cAddCloudParameter         addparams_ ;

    int count_cloud_;
    int count_cloud_old_;
    int count_laser_;

    ros::NodeHandle nh_;

    tf::TransformListener tf_listener_;


    ros::Subscriber sub_cloud_;
    void addPointcloudCallbackSub(
        const sensor_msgs::PointCloud2ConstPtr &msg);

    ros::Subscriber sub_cloud_old_;
    void addPointcloudOldCallbackSub(
        const sensor_msgs::PointCloudConstPtr &msg);

    ros::Subscriber sub_laser_;
    void addLaserCallbackSub(const sensor_msgs::LaserScanConstPtr &msg);

    ros::Publisher pub_octomap_;
    ros::Publisher pub_octomap_full_;
    ros::Publisher pub_cloud_free_;
    ros::Publisher pub_cloud_occupied_;


    ros::ServiceServer srv_clear_;
    bool clearCallbackSrv(std_srvs::Empty::Request  &req,
      std_srvs::Empty::Response &res);

    ros::ServiceServer srv_getsize_;
    bool getSizeCallbackSrv(
      octomap_pa::OctomapPaGetSize::Request  &req,
      octomap_pa::OctomapPaGetSize::Response &res);
    ros::ServiceServer srv_save_;
    bool saveCallbackSrv(
      octomap_pa::OctomapPaFileName::Request  &req,
      octomap_pa::OctomapPaFileName::Response &res);
    ros::ServiceServer srv_load_;
    bool loadCallbackSrv(
      octomap_pa::OctomapPaFileName::Request  &req,
      octomap_pa::OctomapPaFileName::Response &res);
};

#endif // __OCTREE_PA_NODE_H