gazebo_ros_block_laser.h

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/*
 * Desc: ros laser controller.
 * Author: Nathan Koenig
 * Date: 01 Feb 2007
 */

#ifndef GAZEBO_ROS_BLOCK_LASER_HH
#define GAZEBO_ROS_BLOCK_LASER_HH

// Custom Callback Queue
#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>

#include <sdf/Param.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/transport/TransportTypes.hh>
#include <gazebo/msgs/MessageTypes.hh>
#include <gazebo/common/Time.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/sensors/SensorTypes.hh>
#include <gazebo/plugins/RayPlugin.hh>

#include <boost/bind.hpp>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

#include <sensor_msgs/PointCloud.h>

namespace gazebo
{

  class GazeboRosBlockLaser : public RayPlugin
  {
    public: GazeboRosBlockLaser();

    public: ~GazeboRosBlockLaser();

    public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);

    protected: virtual void OnNewLaserScans();

    private: void PutLaserData(common::Time &_updateTime);

    private: common::Time last_update_time_;

    private: int laser_connect_count_;
    private: void LaserConnect();
    private: void LaserDisconnect();

    // Pointer to the model
    private: physics::WorldPtr world_;
    private: sensors::SensorPtr parent_sensor_;
    private: sensors::RaySensorPtr parent_ray_sensor_;

    private: ros::NodeHandle* rosnode_;
    private: ros::Publisher pub_;

    private: sensor_msgs::PointCloud cloud_msg_;

    private: std::string topic_name_;

    private: std::string frame_name_;

    private: double gaussian_noise_;

    private: double GaussianKernel(double mu,double sigma);

    private: boost::mutex lock;

    //private: ParamT<double> *hokuyoMinIntensityP;
    private: double hokuyo_min_intensity_;

    private: double update_rate_;

    private: std::string robot_namespace_;

    // Custom Callback Queue
    private: ros::CallbackQueue laser_queue_;
    private: void LaserQueueThread();
    private: boost::thread callback_laser_queue_thread_;

    // subscribe to world stats
    private: transport::NodePtr node_;
    private: common::Time sim_time_;
    public: void OnStats( const boost::shared_ptr<msgs::WorldStatistics const> &_msg);

  };

}

#endif