mrpt_localization_node.h

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 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
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#pragma once

#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <mrpt/obs/CObservationOdometry.h>
#include <nav_msgs/GetMap.h>
#include <nav_msgs/MapMetaData.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_msgs/Odometry.h>
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <std_msgs/Header.h>

#include <cstring>      // size_t

#include "geometry_msgs/TransformStamped.h"
#include "mrpt_localization/MotionConfig.h"
#include "mrpt_localization/mrpt_localization.h"
#include "mrpt_msgs/ObservationRangeBeacon.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_broadcaster.h"
#include "tf2_ros/transform_listener.h"

using mrpt::obs::CObservationOdometry;

class PFLocalizationNode : public PFLocalization
{
   public:
        struct Parameters : public PFLocalization::Parameters
        {
                static const int MOTION_MODEL_GAUSSIAN = 0;
                static const int MOTION_MODEL_THRUN = 1;
                Parameters(PFLocalizationNode* p);
                ros::NodeHandle node;
                void callbackParameters(
                        mrpt_localization::MotionConfig& config, uint32_t level);
                dynamic_reconfigure::Server<mrpt_localization::MotionConfig>
                        reconfigure_server_;
                dynamic_reconfigure::Server<
                        mrpt_localization::MotionConfig>::CallbackType reconfigure_cb_;
                void update(const unsigned long& loop_count);
                double rate;
                double transform_tolerance;      
                double no_update_tolerance;      
                double no_inputs_tolerance;      
                int parameter_update_skip;
                int particlecloud_update_skip;
                int map_update_skip;
                std::string base_frame_id;
                std::string odom_frame_id;
                std::string global_frame_id;
                bool update_while_stopped;
                bool update_sensor_pose;
                bool pose_broadcast;
                bool tf_broadcast;
                bool use_map_topic;
                bool first_map_only;
                double init_x; // m
                double init_y; // m
                double init_phi; //radians
                double init_std_xy = 0.20; // m
                double init_std_phi = 0.10; // rad
        };

        PFLocalizationNode(ros::NodeHandle& n);
        virtual ~PFLocalizationNode();
        void init();
        void loop();
        void callbackLaser(const sensor_msgs::LaserScan&);
        void callbackBeacon(const mrpt_msgs::ObservationRangeBeacon&);
        void callbackRobotPose(const geometry_msgs::PoseWithCovarianceStamped&);
        void odometryForCallback(
                CObservationOdometry::Ptr&, const std_msgs::Header&);
        void callbackInitialpose(const geometry_msgs::PoseWithCovarianceStamped&);
        void callbackOdometry(const nav_msgs::Odometry&);
        void callbackMap(const nav_msgs::OccupancyGrid&);
        void updateMap(const nav_msgs::OccupancyGrid&);
        void publishTF();
        void publishPose();

   private:
        ros::NodeHandle nh_;
        bool first_map_received_;
        ros::Time time_last_input_;
        unsigned long long loop_count_;
        nav_msgs::GetMap::Response resp_;
        ros::Subscriber sub_init_pose_;
        ros::Subscriber sub_odometry_;
        std::vector<ros::Subscriber> sub_sensors_;
        ros::Subscriber sub_map_;
        ros::ServiceClient client_map_;
        ros::Publisher pub_particles_;
        ros::Publisher pub_map_;
        ros::Publisher pub_metadata_;
        ros::Publisher pub_pose_;
        ros::ServiceServer service_map_;

        tf2_ros::Buffer tf_buffer_;
        tf2_ros::TransformListener tf_listener_{tf_buffer_};

        tf2_ros::TransformBroadcaster tf_broadcaster_;

        std::map<std::string, mrpt::poses::CPose3D> laser_poses_;
        std::map<std::string, mrpt::poses::CPose3D> beacon_poses_;

        // methods
        Parameters* param();
        void update();
        void updateSensorPose(std::string frame_id);

        void publishParticles();
        void useROSLogLevel();

        bool waitForTransform(
                mrpt::poses::CPose3D& des, const std::string& target_frame,
                const std::string& source_frame, const ros::Time& time,
                const ros::Duration& timeout,
                const ros::Duration& polling_sleep_duration = ros::Duration(0.01));
        bool mapCallback(
                nav_msgs::GetMap::Request& req, nav_msgs::GetMap::Response& res);
        void publishMap();
        virtual bool waitForMap();
};