00001 /* 00002 * Copyright (C) 2013, Osnabrück University 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 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 Osnabrück University nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 * Created on: 21.08.2013 00030 * 00031 * Author: Martin Günther <mguenthe@uos.de> 00032 * 00033 */ 00034 00035 #ifndef SICK_TIM3XX_DATAGRAM_TEST_H_ 00036 #define SICK_TIM3XX_DATAGRAM_TEST_H_ 00037 00038 #include <ros/ros.h> 00039 #include <sensor_msgs/LaserScan.h> 00040 #include <std_msgs/String.h> 00041 #include <dynamic_reconfigure/server.h> 00042 #include <sick_tim/SickTimConfig.h> 00043 00044 #include "abstract_parser.h" 00045 00046 namespace sick_tim 00047 { 00048 00049 class SickTimDatagramTest 00050 { 00051 public: 00052 SickTimDatagramTest(AbstractParser* parser); 00053 virtual ~SickTimDatagramTest(); 00054 void check_angle_range(SickTimConfig &conf); 00055 void update_config(sick_tim::SickTimConfig &new_config, uint32_t level = 0); 00056 00057 private: 00058 ros::NodeHandle nh_; 00059 00060 // publisher to "scan" topic 00061 ros::Publisher pub_; 00062 00063 // subscriber to "datagram" topic 00064 ros::Subscriber sub_; 00065 void datagramCB(const std_msgs::String::ConstPtr &msg); 00066 00067 // Dynamic Reconfigure 00068 SickTimConfig config_; 00069 dynamic_reconfigure::Server<sick_tim::SickTimConfig> dynamic_reconfigure_server_; 00070 00071 AbstractParser* parser_; 00072 }; 00073 00074 } /* namespace sick_tim */ 00075 #endif /* SICK_TIM3XX_DATAGRAM_TEST_H_ */