pcdfilter_pa_node.h

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/******************************************************************************
*                                                                             *
* pcdfilter_pa_node.h                                                         *
* ===================                                                         *
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* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_pcdfilter                               *
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* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
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#ifndef __PCD_FILTER_PA_NODE_H
#define __PCD_FILTER_PA_NODE_H

// local headers
#include "pcdfilter_pa/pcdfilter_pa_ros.h"
#include "pcdfilter_pa/pcdfilter_pa_node_parameter.h"
#include "pcdfilter_pa/PcdFilterPaFilter.h"
#include "pcdfilter_pa/PcdFilterPaCloud.h"

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

#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/LaserScan.h>
#include <std_srvs/Empty.h>

#include <tf/transform_listener.h>

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

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

//**************************[cPcdFilterPaNode]*********************************
class cPcdFilterPaNode : public cPcdFilterPaRos {
  public:
    cPcdFilterPaNode();

    ~cPcdFilterPaNode();

  protected:
    cPcdFilterPaNodeParameter nodeparams_;

    ros::NodeHandle nh_;

    tf::TransformListener tf_listener_;

    ros::Subscriber sub_pcd_;
    ros::Subscriber sub_pcd_old_;
    ros::Subscriber sub_laser_;

    ros::Publisher pub_pcd_;

    ros::ServiceServer ser_filter_;

    ros::ServiceServer ser_add_filters_;
    ros::ServiceServer ser_change_filters_;

    ros::ServiceServer ser_enable_;
    ros::ServiceServer ser_disable_;

    void setCloudCallbackSub(const sensor_msgs::PointCloud2ConstPtr &msg);
    void setCloudOldCallbackSub(const sensor_msgs::PointCloudConstPtr &msg);
    void setCloudLaserCallbackSub(const sensor_msgs::LaserScanConstPtr &msg);

    bool filterCallbackSrv(
        pcdfilter_pa::PcdFilterPaCloud::Request  &req,
        pcdfilter_pa::PcdFilterPaCloud::Response &res);

    bool addFiltersCallbackSrv(
        pcdfilter_pa::PcdFilterPaFilter::Request  &req,
        pcdfilter_pa::PcdFilterPaFilter::Response &res);
    bool changeFiltersCallbackSrv(
        pcdfilter_pa::PcdFilterPaFilter::Request  &req,
        pcdfilter_pa::PcdFilterPaFilter::Response &res);

    bool enableCallbackSrv(std_srvs::Empty::Request  &req,
        std_srvs::Empty::Response &res);
    bool disableCallbackSrv(std_srvs::Empty::Request  &req,
        std_srvs::Empty::Response &res);

    void addFilters(const std::vector<std::string> &new_filters);

  private:
    void enable(void);
    void disable(void);
};

#endif // __PCD_FILTER_PA_NODE_H