rawlog_record_node.h

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/***********************************************************************************
 * Revised BSD License *
 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
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#ifndef MRPT_RAWLOG_RECORD_NODE_H
#define MRPT_RAWLOG_RECORD_NODE_H
 
#include <dynamic_reconfigure/server.h>
#include <marker_msgs/MarkerDetection.h>
#include <nav_msgs/Odometry.h>
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
 
#include "mrpt_rawlog/RawLogRecordConfig.h"
#include "mrpt_rawlog_record/rawlog_record.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"
 
class RawlogRecordNode : public RawlogRecord
{
   public:
        struct ParametersNode
        {
                static const int MOTION_MODEL_GAUSSIAN = 0;
                static const int MOTION_MODEL_THRUN = 1;
                ParametersNode(RawlogRecord::Parameters& base_params);
                ros::NodeHandle node;
                RawlogRecord::Parameters& base_param_;
                void callbackParameters(
                        mrpt_rawlog::RawLogRecordConfig& config, uint32_t level);
                dynamic_reconfigure::Server<mrpt_rawlog::RawLogRecordConfig>
                        reconfigureServer_;
                dynamic_reconfigure::Server<
                        mrpt_rawlog::RawLogRecordConfig>::CallbackType reconfigureFnc_;
                void update(const unsigned long& loop_count);
                double rate;
                int parameter_update_skip;
                std::string odom_frame_id;
                std::string base_frame_id;
                double sensor_frame_sync_threshold;
        };
 
        RawlogRecordNode(ros::NodeHandle& n);
        ~RawlogRecordNode();
        void init();
        void loop();
        void callbackLaser(
                const sensor_msgs::LaserScan&);  
        void callbackMarker(const marker_msgs::MarkerDetection&);
        void callbackOdometry(const nav_msgs::Odometry&);
 
   private:      // functions
        ParametersNode param_{RawlogRecord::base_param_};
        void update();
        bool getStaticTF(std::string source_frame, mrpt::poses::CPose3D& des);
        ros::Subscriber subLaser_;
        ros::Subscriber subMarker_;
        ros::Subscriber subOdometry_;
 
        tf2_ros::Buffer tf_buffer_;
        tf2_ros::TransformListener listenerTF_{tf_buffer_};
 
        mrpt::obs::CObservationBearingRange::Ptr last_bearing_range_;
        mrpt::obs::CObservationBeaconRanges::Ptr last_beacon_range_;
        mrpt::obs::CObservation2DRangeScan::Ptr last_range_scan_;
        mrpt::obs::CObservationOdometry::Ptr last_odometry_;
        unsigned int sync_attempts_sensor_frame_;
        std::map<std::string, mrpt::poses::CPose3D> static_tf_;
        ros::NodeHandle n_;
        void addObservation(const ros::Time& time);
        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));
 
        void convert(
                const nav_msgs::Odometry& src, mrpt::obs::CObservationOdometry& des);
};
 
#endif  // MRPT_RAWLOG_RECORD_NODE_H