rawlog_play_node.h
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00001 /***********************************************************************************
00002  * Revised BSD License *
00003  * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
00004  * All rights reserved. *
00005  *                                                                                 *
00006  * Redistribution and use in source and binary forms, with or without *
00007  * modification, are permitted provided that the following conditions are met: *
00008  *     * Redistributions of source code must retain the above copyright *
00009  *       notice, this list of conditions and the following disclaimer. *
00010  *     * Redistributions in binary form must reproduce the above copyright *
00011  *       notice, this list of conditions and the following disclaimer in the *
00012  *       documentation and/or other materials provided with the distribution. *
00013  *     * Neither the name of the Vienna University of Technology nor the *
00014  *       names of its contributors may be used to endorse or promote products *
00015  *       derived from this software without specific prior written permission. *
00016  *                                                                                 *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  *AND *
00019  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00020  **
00021  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
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00023  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
00024  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00025  **
00026  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
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00029  **
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00033 
00034 #ifndef MRPT_RAWLOG_PLAY_NODE_H
00035 #define MRPT_RAWLOG_PLAY_NODE_H
00036 
00037 #include "ros/ros.h"
00038 #include <tf/transform_broadcaster.h>
00039 #include <tf/transform_listener.h>
00040 #include <nav_msgs/Odometry.h>
00041 #include <sensor_msgs/LaserScan.h>
00042 #include <dynamic_reconfigure/server.h>
00043 #include "mrpt_rawlog/RawLogRecordConfig.h"
00044 #include "mrpt_rawlog_play/rawlog_play.h"
00045 #include <mrpt_msgs/ObservationRangeBeacon.h>
00046 #include <mrpt_msgs/ObservationRangeBearing.h>
00048 class RawlogPlayNode : public RawlogPlay
00049 {
00050    public:
00051         struct ParametersNode : public Parameters
00052         {
00053                 static const int MOTION_MODEL_GAUSSIAN = 0;
00054                 static const int MOTION_MODEL_THRUN = 1;
00055                 ParametersNode();
00056                 ros::NodeHandle node;
00057                 void callbackParameters(
00058                         mrpt_rawlog::RawLogRecordConfig& config, uint32_t level);
00059                 dynamic_reconfigure::Server<mrpt_rawlog::RawLogRecordConfig>
00060                         reconfigureServer_;
00061                 dynamic_reconfigure::Server<mrpt_rawlog::RawLogRecordConfig>::CallbackType
00062                         reconfigureFnc_;
00063                 void update(const unsigned long& loop_count);
00064                 double rate;
00065                 std::string base_frame;
00066                 std::string odom_frame;
00067                 std::string tf_prefix;
00068                 int parameter_update_skip;
00069         };
00070 
00071         RawlogPlayNode(ros::NodeHandle& n);
00072         ~RawlogPlayNode();
00073         void init();
00074         void loop();
00075 
00076    private:  // functions
00077         ParametersNode* param();
00078         bool nextEntry();
00079 
00080    private:  // variables
00081         ros::NodeHandle n_;
00082         unsigned long loop_count_;
00083         sensor_msgs::LaserScan msg_laser_;
00084         mrpt_msgs::ObservationRangeBeacon msg_beacon_;
00085         mrpt_msgs::ObservationRangeBearing msg_landmark_;
00086         nav_msgs::Odometry msg_odom_;
00087         ros::Publisher pub_laser_;
00088         ros::Publisher pub_beacon_;
00089         ros::Publisher pub_landmark_;
00090         std::string odom_frame_;
00091         std::string base_frame_;
00092         tf::TransformBroadcaster tf_broadcaster_;
00093 };
00094 
00095 #endif  // MRPT_RAWLOG_PLAY_NODE_H


mrpt_rawlog
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autogenerated on Mon Sep 18 2017 03:12:13