octomap_server_contact.h

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// -*- mode: c++ -*-
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#ifndef OCTOMAP_SERVER_OCTOMAPSERVER_CONTACT_H_
#define OCTOMAP_SERVER_OCTOMAPSERVER_CONTACT_H_

#include <ros/ros.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>

#define NDEBUG
#include <octomap_server/OctomapServer.h>
#include <jsk_pcl_ros/OcTreeContact.h>
#include <jsk_recognition_msgs/ContactSensorArray.h>
#include <jsk_pcl_ros/self_mask_named_link.h>

using octomap_server::OctomapServer;

namespace jsk_pcl_ros
{
  class OctomapServerContact : public OctomapServer,
                               public jsk_topic_tools::DiagnosticNodelet
  {
   public:
     OctomapServerContact(const ros::NodeHandle& privateNh = ros::NodeHandle("~"));
     virtual ~OctomapServerContact();

     virtual void insertProximityCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud);
     virtual void insertScanProximity(const tf::Point& sensorOriginTf, const PCLPointCloud& pc);
     virtual void initContactSensor(const ros::NodeHandle& privateNh);
     virtual void insertContactSensor(const jsk_recognition_msgs::ContactSensorArray::ConstPtr& msg);
     virtual void insertContactSensorCallback(const jsk_recognition_msgs::ContactSensorArray::ConstPtr& msg);

     virtual void publishAll(const ros::Time& rostime);
     virtual void subscribe() {};
     virtual void unsubscribe() {};

   protected:
     virtual void onInit();
     ros::Publisher m_unknownPointCloudPub, m_umarkerPub;
     message_filters::Subscriber<sensor_msgs::PointCloud2>* m_pointProximitySub;
     tf::MessageFilter<sensor_msgs::PointCloud2>* m_tfPointProximitySub;
     ros::Publisher m_frontierPointCloudPub, m_fromarkerPub;
     message_filters::Subscriber<jsk_recognition_msgs::ContactSensorArray> m_contactSensorSub;
     boost::shared_ptr<tf::MessageFilter<jsk_recognition_msgs::ContactSensorArray> > m_tfContactSensorSub;
     ros::ServiceServer m_octomapBinaryService, m_octomapFullService, m_clearBBXService, m_resetService;

     std_msgs::ColorRGBA m_colorUnknown;
     std_msgs::ColorRGBA m_colorFrontier;

     bool m_publishUnknownSpace;
     double m_offsetVisualizeUnknown;

     bool m_publishFrontierSpace;

     double m_maxRangeProximity;

     double m_occupancyMinX;
     double m_occupancyMaxX;
     double m_occupancyMinY;
     double m_occupancyMaxY;

     bool m_useContactSurface;

     boost::shared_ptr<robot_self_filter::SelfMaskNamedLink> m_selfMask;

     octomap::OcTreeContact* m_octreeContact;
  };
}

#endif