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 * 00022 * DISCLAIMED. IN NO EVENT SHALL Markus Bader BE LIABLE FOR ANY * 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 * 00027 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * 00028 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00029 ** 00030 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00031 ** * 00032 ***********************************************************************************/ 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