mobile_robot_simulator.h

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#include "ros/ros.h"
#include "ros/console.h"
 
#include "geometry_msgs/Twist.h"
#include "tf/LinearMath/Transform.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"
#include "nav_msgs/Odometry.h"
 
#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>
 
#include <functional>
 
#ifndef MOBILE_ROBOT_SIMULATOR
#define MOBILE_ROBOT_SIMULATOR
 
class MobileRobotSimulator {
 
public:
 
    MobileRobotSimulator(ros::NodeHandle *nh); // default constructor
    ~MobileRobotSimulator(); // default destructor
 
    void start(); //
 
    void stop();
 
    bool publish_map_transform; // whether or not to publish the map transform
 
 
private:
 
    void get_params();
 
    void update_loop(const ros::TimerEvent& event);
 
    void update_odom_from_vel(geometry_msgs::Twist vel, ros::Duration time_diff);
 
    void get_tf_from_odom(nav_msgs::Odometry odom);
 
    void vel_callback(const geometry_msgs::Twist::ConstPtr& msg);
 
    void init_pose_callback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg);
 
    double publish_rate;
 
    nav_msgs::Odometry odom; // odometry message
    tf::StampedTransform odom_trans; // odometry transform
    tf::StampedTransform map_trans; // transformation from odom to map
 
    ros::Time last_vel; // last incoming velocity command
    ros::Time last_update; // last time the odom was published
    ros::Time measure_time; // this incoming velocity command
    bool message_received = false;
    ros::NodeHandle * nh_ptr;
 
    bool is_running;
 
    // ROS interfaces
    ros::Publisher odom_pub;
    ros::Subscriber vel_sub;
    ros::Subscriber init_pose_sub;
    tf::TransformBroadcaster tf_broadcaster;
 
    //Topics
    std::string velocity_topic;
    std::string odometry_topic;
    std::string base_link_frame;
 
    ros::Timer loop_timer; // timer for the update loop
 
    double th = 0.0; // current pose (only need yaw, rest is calculated)
 
}; // end class
 
#endif