costmap_converter_interface.h

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 * Author: Christoph Rösmann, Otniel Rinaldo
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#ifndef COSTMAP_CONVERTER_INTERFACE_H_
#define COSTMAP_CONVERTER_INTERFACE_H_

//#include <costmap_2d/costmap_2d_ros.h>
#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <boost/thread.hpp>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <geometry_msgs/Polygon.h>
#include <costmap_converter/ObstacleArrayMsg.h>


namespace costmap_converter
{
typedef boost::shared_ptr<ObstacleArrayMsg> ObstacleArrayPtr;
typedef boost::shared_ptr< const ObstacleArrayMsg > ObstacleArrayConstPtr;

typedef boost::shared_ptr< std::vector<geometry_msgs::Polygon> > PolygonContainerPtr;
typedef boost::shared_ptr< const std::vector<geometry_msgs::Polygon> > PolygonContainerConstPtr;
  

class BaseCostmapToPolygons
{
public: 
  
    virtual void initialize(ros::NodeHandle nh) = 0;
    
    virtual ~BaseCostmapToPolygons() 
    {
      stopWorker();
    }

    
    virtual void setCostmap2D(costmap_2d::Costmap2D* costmap) = 0;
    
    virtual void updateCostmap2D() = 0;
    
    virtual void compute() = 0;
    
    virtual PolygonContainerConstPtr getPolygons(){return PolygonContainerConstPtr();}

    virtual ObstacleArrayConstPtr getObstacles()
    {
      ObstacleArrayPtr obstacles = boost::make_shared<ObstacleArrayMsg>();
      PolygonContainerConstPtr polygons = getPolygons();
      if (polygons)
      {
        for (const geometry_msgs::Polygon& polygon : *polygons)
        {
          obstacles->obstacles.emplace_back();
          obstacles->obstacles.back().polygon = polygon;
        }
      }
      return obstacles;
    }

    virtual void setOdomTopic(const std::string& odom_topic) {}

    void startWorker(ros::Rate rate, costmap_2d::Costmap2D* costmap, bool spin_thread = false)
    {
      setCostmap2D(costmap);
      
      if (spin_thread_)
      {
        {
          boost::mutex::scoped_lock terminate_lock(terminate_mutex_);
          need_to_terminate_ = true;
        }
        spin_thread_->join();
        delete spin_thread_;
      }
      
      if (spin_thread)
      {
        ROS_DEBUG_NAMED("costmap_converter", "Spinning up a thread for the CostmapToPolygons plugin");
        need_to_terminate_ = false;
        spin_thread_ = new boost::thread(boost::bind(&BaseCostmapToPolygons::spinThread, this));
        nh_.setCallbackQueue(&callback_queue_);
      }
      else
      {
        spin_thread_ = NULL;
        nh_.setCallbackQueue(ros::getGlobalCallbackQueue());
      }
      
      worker_timer_ = nh_.createTimer(rate, &BaseCostmapToPolygons::workerCallback, this);
    }
    
    void stopWorker()
    {
      worker_timer_.stop();
      if (spin_thread_)
      {
        {
          boost::mutex::scoped_lock terminate_lock(terminate_mutex_);
          need_to_terminate_ = true;
        }
        spin_thread_->join();
        delete spin_thread_;
      }
    }

protected:
  
    BaseCostmapToPolygons() : nh_("~costmap_to_polygons"), spin_thread_(NULL), need_to_terminate_(false) {}
    
    void spinThread()
    {
      while (nh_.ok())
      {
        {
          boost::mutex::scoped_lock terminate_lock(terminate_mutex_);
          if (need_to_terminate_)
            break;
        }
        callback_queue_.callAvailable(ros::WallDuration(0.1f));
      }
    }
    
    void workerCallback(const ros::TimerEvent&)
    {
      updateCostmap2D();
      compute();
    }
    
private:
  ros::Timer worker_timer_;
  ros::NodeHandle nh_;
  boost::thread* spin_thread_;
  ros::CallbackQueue callback_queue_;
  boost::mutex terminate_mutex_;
  bool need_to_terminate_;
};    
    
}



#endif // end COSTMAP_CONVERTER_INTERFACE_H_