octree_base_pa_node.h

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/******************************************************************************
*                                                                             *
* octree_base_pa_node.h                                                       *
* =====================                                                       *
*                                                                             *
*******************************************************************************
*                                                                             *
* Repository:                                                                 *
*   https://github.com/TUC-ProAut/ros_octomap                                 *
*                                                                             *
* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
* Author:                                                                     *
*   Peter Weissig                                                             *
*                                                                             *
*******************************************************************************
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#ifndef __BASECLASS_BASE_PA_NODE_H
#define __BASECLASS_BASE_PA_NODE_H

// local headers
#include "octomap_pa/addcloud_parameter.h"
#include "octomap_pa/octree_base_pa_node_parameter.h"

#include "octomap_pa_msgs/Reset.h"
#include "octomap_pa_msgs/SetConfigInsertion.h"
#include "octomap_pa_msgs/SetConfigDegrading.h"
#include "octomap_pa_msgs/GetConfig.h"

#include "octomap_pa_msgs/AddCloud.h"
#include "octomap_pa_msgs/AddCloudTf.h"
#include "octomap_pa_msgs/GetCloud.h"
#include "octomap_pa_msgs/GetSize.h"

#include "octomap_pa_msgs/FileName.h"

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

#include <geometry_msgs/Point.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/LaserScan.h>
#include <nav_msgs/Path.h>
#include <std_srvs/Empty.h>

#include <octomap_msgs/Octomap.h>

#include <tf/transform_datatypes.h>

// additional libraries
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <octomap/octomap.h>

//**************************[cOctreeBasePaNode]********************************
template <typename BASECLASS>
class cOctreeBasePaNode : public BASECLASS {
  public:

    typedef BASECLASS                    TypeBase;
    typedef cOctreeBasePaNode<BASECLASS> TypeFull;

    cOctreeBasePaNode(const std::string nodename,
      const double resolution = 0.1,
      const ros::Duration tf_listener_buffersize = ros::Duration(20));

    virtual ~cOctreeBasePaNode();

    void publishOctomap(void);

    virtual octomap_pa_msgs::Config getConfig(void);
    bool setConfigInsertion(const octomap_pa_msgs::ConfigInsertion &config);
    virtual bool setConfigDegrading(
      const octomap_pa_msgs::ConfigDegrading &config);

  protected:

    cOctreeBasePaNodeParameter nodeparams_;
    cAddCloudParameter         addparams_ ;

    int count_cloud_;
    int count_cloud_old_;
    int count_laser_;

    ros::NodeHandle nh_;

    tf::TransformListener tf_listener_;


    ros::Subscriber sub_cloud_;
    void addPointcloudCallbackSub(
        const sensor_msgs::PointCloud2ConstPtr &msg);

    ros::Subscriber sub_cloud_old_;
    void addPointcloudOldCallbackSub(
        const sensor_msgs::PointCloudConstPtr &msg);

    ros::Subscriber sub_laser_;
    void addLaserCallbackSub(const sensor_msgs::LaserScanConstPtr &msg);

    ros::Publisher pub_octomap_;
    ros::Publisher pub_octomap_full_;
    ros::Publisher pub_cloud_free_;
    ros::Publisher pub_cloud_occupied_;


    ros::ServiceServer srv_clear_;
    bool clearCallbackSrv(std_srvs::Empty::Request  &req,
      std_srvs::Empty::Response &res);
    ros::ServiceServer srv_reset_;
    bool resetCallbackSrv(
      octomap_pa_msgs::Reset::Request  &req,
      octomap_pa_msgs::Reset::Response &res);

    ros::ServiceServer srv_setconfig_degrading_;
    bool setConfigDegradingCallbackSrv(
      octomap_pa_msgs::SetConfigDegrading::Request  &req,
      octomap_pa_msgs::SetConfigDegrading::Response &res);
    ros::ServiceServer srv_setconfig_insertion_;
    bool setConfigInsertionCallbackSrv(
      octomap_pa_msgs::SetConfigInsertion::Request  &req,
      octomap_pa_msgs::SetConfigInsertion::Response &res);
    ros::ServiceServer srv_getconfig_;
    bool getConfigCallbackSrv(
      octomap_pa_msgs::GetConfig::Request  &req,
      octomap_pa_msgs::GetConfig::Response &res);

    ros::ServiceServer srv_addcloud_;
    bool addCloudCallbackSrv(
      octomap_pa_msgs::AddCloud::Request  &req,
      octomap_pa_msgs::AddCloud::Response &res);
    ros::ServiceServer srv_addcloudtf_;
    bool addCloudTfCallbackSrv(
      octomap_pa_msgs::AddCloudTf::Request  &req,
      octomap_pa_msgs::AddCloudTf::Response &res);
    ros::ServiceServer srv_getcloud_;
    bool getCloudCallbackSrv(
      octomap_pa_msgs::GetCloud::Request  &req,
      octomap_pa_msgs::GetCloud::Response &res);
    ros::ServiceServer srv_getsize_;
    bool getSizeCallbackSrv(
      octomap_pa_msgs::GetSize::Request  &req,
      octomap_pa_msgs::GetSize::Response &res);

    ros::ServiceServer srv_save_;
    bool saveCallbackSrv(
      octomap_pa_msgs::FileName::Request  &req,
      octomap_pa_msgs::FileName::Response &res);
    ros::ServiceServer srv_load_;
    bool loadCallbackSrv(
      octomap_pa_msgs::FileName::Request  &req,
      octomap_pa_msgs::FileName::Response &res);

    bool updateTimeAndGetTF(const std_msgs::Header header,
      tf::Transform &transform);

    virtual void internal_node_update(void) = 0;


  private:
    std::string nodename_;
};

#include "octomap_pa/octree_base_pa_node.hxx"

#endif // __BASECLASS_BASE_PA_NODE_H