nearfield_map_pa_node.cpp

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/******************************************************************************
*                                                                             *
* nearfield_map_pa_node.cpp                                                   *
* =========================                                                   *
*                                                                             *
*******************************************************************************
*                                                                             *
* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_nearfield_map                           *
*                                                                             *
* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
*******************************************************************************
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* New BSD License                                                             *
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// local headers
#include "nearfield_map_pa_node.h"

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

// standard headers
#include <string>

//**************************[main]*********************************************
int main(int argc, char **argv) {

    ros::init(argc, argv, "nearfield_map_pa_node");
    cNearfieldMapPaNode octomap;

    ros::spin();

    return 0;
}

//**************************[cNearfieldMapPaNode]******************************
cNearfieldMapPaNode::cNearfieldMapPaNode() {

    cParameterPaRos paramloader;

    // Subscriber for depth images from camera
    if (nodeparams_.topic_in_camera_ != "") {
        sub_camera_ = nh_.subscribe<sensor_msgs::PointCloud2>(
          nodeparams_.topic_in_camera_, 1,
          &cNearfieldMapPaNode::addPcdCameraCallbackSub, this);
    }
    // Subscriber for single laserscans
    if (nodeparams_.topic_in_laser_scan_ != "") {
        sub_laser_scan_ = nh_.subscribe<sensor_msgs::PointCloud2>(
          nodeparams_.topic_in_laser_scan_, 10,
          &cNearfieldMapPaNode::addPcdLaserScanCallbackSub, this);
    }
    // Subscriber for full laserscans
    if (nodeparams_.topic_in_laser_full_ != "") {
        sub_laser_full_ = nh_.subscribe<sensor_msgs::PointCloud2>(
          nodeparams_.topic_in_laser_full_, 1,
          &cNearfieldMapPaNode::addPcdLaserFullCallbackSub, this);
    }
}

//**************************[~cNearfieldMapPaNode]*****************************
cNearfieldMapPaNode::~cNearfieldMapPaNode() {

}

//**************************[addPcdCameraCallbackSub]**************************
void cNearfieldMapPaNode::addPcdCameraCallbackSub(
  const sensor_msgs::PointCloud2ConstPtr &msg) {

    if (!updateTime(msg->header.stamp)) {
        tf_listener_.clear();
        return;
    }

    tf::StampedTransform transform;
    if (! checkTF(msg->header, transform)) { return;}

    if (addCloud(msg, params_addcloud_camera_, transform)) {
        count_camera_++;
        publish();
    }
}

//**************************[addPcdLaserScanCallbackSub]***********************
void cNearfieldMapPaNode::addPcdLaserScanCallbackSub(
  const sensor_msgs::PointCloud2ConstPtr &msg) {

    if (!updateTime(msg->header.stamp)) {
        tf_listener_.clear();
        return;
    }

    tf::StampedTransform transform;
    if (! checkTF(msg->header, transform)) { return;}

    if (addCloud(msg, params_addcloud_laser_scan_, transform)) {
        count_laser_scan_++;
        publish();
    }
}

//**************************[addPcdLaserFullCallbackSub]***********************
void cNearfieldMapPaNode::addPcdLaserFullCallbackSub(
  const sensor_msgs::PointCloud2ConstPtr &msg) {

    if (!updateTime(msg->header.stamp)) {
        tf_listener_.clear();
        return;
    }

    tf::StampedTransform transform;
    if (! checkTF(msg->header, transform)) { return;}

    if (addCloud(msg, params_addcloud_laser_full_, transform)) {
        count_laser_full_++;
        publish();
    }
}