LocalBehaviorControllerNode.h

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/* Copyright (c) 2017, TU Wien
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  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions are met:
      * Redistributions of source code must retain the above copyright
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      * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
      * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY TU Wien ''AS IS'' AND ANY
  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  DISCLAIMED. IN NO EVENT SHALL TU Wien BE LIABLE FOR ANY
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#ifndef LOCAL_BEHAVIOR_CONTROLLER_NODE_H
#define LOCAL_BEHAVIOR_CONTROLLER_NODE_H

// ROS
#include <ros/ros.h>
#include <nav_msgs/Path.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <tuw_multi_robot_msgs/Route.h>
#include <tuw_multi_robot_msgs/RobotInfo.h>
#include <tuw_multi_robot_route_to_path/RobotRouteToPath.h>
#include <tuw_multi_robot_route_to_path/RobotStateObserver.h>

#include <memory>

namespace tuw_multi_robot_route_to_path
{
class LocalBehaviorControllerNode
{
public:
  LocalBehaviorControllerNode(ros::NodeHandle &n);

  // ROS:
  ros::NodeHandle n_;        
  ros::NodeHandle n_param_;  
  std::unique_ptr<ros::Rate> rate_;

  void publishRobotInfo();
private:
  void publishPath(std::vector<Eigen::Vector3d> _p);
  void updatePath();

  ros::Publisher pubPath_;
  ros::Publisher pubRobotInfo_;
  ros::Subscriber subRoute_;
  ros::Subscriber subPose_;
  ros::Subscriber subRobotInfo_;

  // ROS Topic names
  double update_rate_;
  std::string topic_path_;
  std::string topic_route_;
  std::string topic_pose_;
  std::string topic_robot_info_;
  std::string frame_map_;
  std::string robot_name_;
  double robot_radius_;
  double robotDefaultRadius_ = 0.6;
  
  geometry_msgs::PoseWithCovariance robot_pose_;
  tuw_multi_robot_msgs::Route robot_route_;

  void subPoseCb(const geometry_msgs::PoseWithCovarianceStampedConstPtr& _pose);
  void subRobotInfoCb(const tuw_multi_robot_msgs::RobotInfo::ConstPtr& _robot_info);
  void subRouteCb(const tuw_multi_robot_msgs::Route::ConstPtr& _route);

  //RobotRouteToPath converter_;
  //RobotStateObserver observer_;
  int robot_step_;
  std::map<std::string, int> robot_steps_;
  
  RobotStateObserver observer_;
};

}  // namespace tuw_multi_robot_route_to_path

#endif  // LOCAL_BEHAVIOR_CONTROLLER_NODE_H