nearfield_map_base_pa_node.h

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/******************************************************************************
*                                                                             *
* nearfield_map_base_pa_node.h                                                *
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* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_nearfield_map                           *
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* Chair of Automation Technology, Technische Universität Chemnitz             *
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#ifndef __NEARFIELD_MAP_BASE_PA_NODE_H
#define __NEARFIELD_MAP_BASE_PA_NODE_H

// local headers
#include "nearfield_map_pa_node_parameter.h"

#include "nearfield_map/NearfieldMapFileName.h"
#include "nearfield_map/NearfieldMapGetSize.h"
#include "nearfield_map/NearfieldMapChangeSettings.h"
#include "nearfield_map/NearfieldMapRequest.h"

// ros headers
#include <ros/ros.h>

#include <std_msgs/Empty.h>
#include <std_msgs/Header.h>
//#include <geometry_msgs/Point.h>
#include <sensor_msgs/PointCloud2.h>
//#include <nav_msgs/Path.h>
#include <std_srvs/Empty.h>

#include <tf/transform_listener.h>

#include <octomap_msgs/Octomap.h>

#include <octomap_pa/addcloud_parameter.h>
#include <parameter_pa/parameter_pa_ros.h>
#include <pcdfilter_pa/pcdfilter_pa_ros.h>
#include <pcdfilter_pa/pcdfilter_pa_ros_throttle.h>


// standard headers
#include <string>
#include <vector>

//**************************[cNearfieldMapBasePaNode]**************************
template <typename NEARFIELDMAP>
  class cNearfieldMapBasePaNode : public NEARFIELDMAP {
  public:

    typedef NEARFIELDMAP                          MapTypeBase;
    typedef cNearfieldMapBasePaNode<NEARFIELDMAP> MapTypeFull;

    cNearfieldMapBasePaNode();

    ~cNearfieldMapBasePaNode();

    void publish(void);

    bool getNearfield(sensor_msgs::PointCloud2Ptr &msg);

    bool checkTF(const std_msgs::Header &header,
      tf::StampedTransform &transform);

    void changeSettings(void);

  protected:

    cNearfieldMapPaNodeParameter nodeparams_;

    cAddCloudParameter params_addcloud_camera_;
    cAddCloudParameter params_addcloud_laser_scan_;
    cAddCloudParameter params_addcloud_laser_full_;


    int count_camera_;
    int count_laser_scan_;
    int count_laser_full_;

    ros::NodeHandle nh_;

    tf::TransformListener tf_listener_;

    // output throttle for auto-update
    cPcdFilterPaRosThrottle output_throttle_;

    // output filter
    cPcdFilterPaRos output_filter_;

    ros::Subscriber sub_camera_;
    ros::Subscriber sub_laser_scan_;
    ros::Subscriber sub_laser_full_;

    ros::Publisher pub_octomap_;
    ros::Publisher pub_octomap_full_;
    ros::Publisher pub_cloud_free_;
    ros::Publisher pub_cloud_occupied_;
    ros::Publisher pub_nearfield_;


    ros::Subscriber sub_clear_;
    void clearCallbackSub(const std_msgs::EmptyConstPtr &msg);

    ros::ServiceServer srv_clear_;
    bool clearCallbackSrv(std_srvs::Empty::Request  &req,
        std_srvs::Empty::Response &res);

    ros::ServiceServer srv_getsize_;
    bool getSizeCallbackSrv(
        nearfield_map::NearfieldMapGetSize::Request  &req,
        nearfield_map::NearfieldMapGetSize::Response &res);

    ros::ServiceServer srv_save_;
    bool saveCallbackSrv(
        nearfield_map::NearfieldMapFileName::Request  &req,
        nearfield_map::NearfieldMapFileName::Response &res);
    ros::ServiceServer srv_load_;
    bool loadCallbackSrv(
        nearfield_map::NearfieldMapFileName::Request  &req,
        nearfield_map::NearfieldMapFileName::Response &res);

    ros::ServiceServer srv_send_;
    bool sendCallbackSrv(std_srvs::Empty::Request  &req,
        std_srvs::Empty::Response &res);
    ros::ServiceServer srv_request_;
    bool requestCallbackSrv(
        nearfield_map::NearfieldMapRequest::Request  &req,
        nearfield_map::NearfieldMapRequest::Response &res);

    ros::ServiceServer srv_change_settings_;
    bool changeSettingsCallbackSrv(
        nearfield_map::NearfieldMapChangeSettings::Request  &req,
        nearfield_map::NearfieldMapChangeSettings::Response &res);

};

#include "nearfield_map_base_pa_node.hxx"

#endif // __NEARFIELD_MAP_BASE_PA_NODE_H