octree_stamped_native_node.h
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00001 /******************************************************************************
00002 *                                                                             *
00003 * octree_stamped_native_node.h                                                *
00004 * ============================                                                *
00005 *                                                                             *
00006 *******************************************************************************
00007 *                                                                             *
00008 * github repository                                                           *
00009 *   https://github.com/TUC-ProAut/ros_octomap                                 *
00010 *                                                                             *
00011 * Chair of Automation Technology, Technische Universität Chemnitz             *
00012 *   https://www.tu-chemnitz.de/etit/proaut                                    *
00013 *                                                                             *
00014 *******************************************************************************
00015 *                                                                             *
00016 * New BSD License                                                             *
00017 *                                                                             *
00018 * Copyright (c) 2015-2018, Peter Weissig, Technische Universität Chemnitz     *
00019 * All rights reserved.                                                        *
00020 *                                                                             *
00021 * Redistribution and use in source and binary forms, with or without          *
00022 * modification, are permitted provided that the following conditions are met: *
00023 *     * Redistributions of source code must retain the above copyright        *
00024 *       notice, this list of conditions and the following disclaimer.         *
00025 *     * Redistributions in binary form must reproduce the above copyright     *
00026 *       notice, this list of conditions and the following disclaimer in the   *
00027 *       documentation and/or other materials provided with the distribution.  *
00028 *     * Neither the name of the Technische Universität Chemnitz nor the       *
00029 *       names of its contributors may be used to endorse or promote products  *
00030 *       derived from this software without specific prior written permission. *
00031 *                                                                             *
00032 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" *
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00043 *                                                                             *
00044 ******************************************************************************/
00045 
00046 #ifndef __OCTREE_STAMPED_NATIVE_NODE_H
00047 #define __OCTREE_STAMPED_NATIVE_NODE_H
00048 
00049 // local headers
00050 #include "octomap_pa/octree_stamped_native_ros.h"
00051 #include "octomap_pa/octree_base_pa_node_parameter.h"
00052 #include "octomap_pa/addcloud_parameter.h"
00053 
00054 #include "octomap_pa/OctomapPaFileName.h"
00055 #include "octomap_pa/OctomapPaGetSize.h"
00056 
00057 // ros headers
00058 #include <ros/ros.h>
00059 
00060 #include <geometry_msgs/Point.h>
00061 #include <sensor_msgs/PointCloud.h>
00062 #include <sensor_msgs/PointCloud2.h>
00063 #include <nav_msgs/Path.h>
00064 #include <std_srvs/Empty.h>
00065 
00066 #include <tf/transform_listener.h>
00067 
00068 #include <octomap_msgs/Octomap.h>
00069 
00070 #include <parameter_pa/parameter_pa_ros.h>
00071 
00072 // additional libraries
00073 #include <pcl/point_types.h>
00074 
00075 #include <octomap/octomap.h>
00076 
00077 // standard headers
00078 #include <string>
00079 #include <vector>
00080 
00081 //**************************[cOctreeStampedNativeNode]*************************
00082 class cOctreeStampedNativeNode : public cOctreeStampedNativeRos {
00083   public:
00085     cOctreeStampedNativeNode();
00086 
00088     ~cOctreeStampedNativeNode();
00089 
00091     void publishOctomap(void);
00092 
00093   protected:
00094 
00096     cOctreeBasePaNodeParameter nodeparams_;
00097     cAddCloudParameter         addparams_ ;
00098 
00100     int count_cloud_;
00102     int count_cloud_old_;
00104     int count_laser_;
00105 
00107     ros::NodeHandle nh_;
00108 
00110     tf::TransformListener tf_listener_;
00111 
00112 
00114     ros::Subscriber sub_cloud_;
00116     void addPointcloudCallbackSub(
00117         const sensor_msgs::PointCloud2ConstPtr &msg);
00118 
00120     ros::Subscriber sub_cloud_old_;
00122     void addPointcloudOldCallbackSub(
00123         const sensor_msgs::PointCloudConstPtr &msg);
00124 
00126     ros::Subscriber sub_laser_;
00128     void addLaserCallbackSub(const sensor_msgs::LaserScanConstPtr &msg);
00129 
00131     ros::Publisher pub_octomap_;
00133     ros::Publisher pub_octomap_full_;
00135     ros::Publisher pub_cloud_free_;
00137     ros::Publisher pub_cloud_occupied_;
00138 
00139 
00141     ros::ServiceServer srv_clear_;
00142     bool clearCallbackSrv(std_srvs::Empty::Request  &req,
00143       std_srvs::Empty::Response &res);
00144 
00146     ros::ServiceServer srv_getsize_;
00147     bool getSizeCallbackSrv(
00148       octomap_pa::OctomapPaGetSize::Request  &req,
00149       octomap_pa::OctomapPaGetSize::Response &res);
00151     ros::ServiceServer srv_save_;
00152     bool saveCallbackSrv(
00153       octomap_pa::OctomapPaFileName::Request  &req,
00154       octomap_pa::OctomapPaFileName::Response &res);
00156     ros::ServiceServer srv_load_;
00157     bool loadCallbackSrv(
00158       octomap_pa::OctomapPaFileName::Request  &req,
00159       octomap_pa::OctomapPaFileName::Response &res);
00160 };
00161 
00162 #endif // __OCTREE_STAMPED_NATIVE_NODE_H


octomap_pa
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autogenerated on Thu Jun 6 2019 17:53:30