GazeboRosVelodyneLaser.h

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#ifndef GAZEBO_ROS_VELODYNE_LASER_H_
#define GAZEBO_ROS_VELODYNE_LASER_H_
 
// Use the same source code for CPU and GPU plugins
#ifndef GAZEBO_GPU_RAY
#define GAZEBO_GPU_RAY 0
#endif
 
// 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>
#if GAZEBO_GPU_RAY
#include <gazebo/plugins/GpuRayPlugin.hh>
#else
#include <gazebo/plugins/RayPlugin.hh>
#endif
 
#include <boost/algorithm/string/trim.hpp>
#include <boost/bind.hpp>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/lock_guard.hpp>
 
#if GAZEBO_GPU_RAY
#define GazeboRosVelodyneLaser GazeboRosVelodyneGpuLaser
#define RayPlugin GpuRayPlugin
#define RaySensorPtr GpuRaySensorPtr
#endif
 
namespace gazebo
{
 
  class GazeboRosVelodyneLaser : public RayPlugin
  {
    public: GazeboRosVelodyneLaser();
 
    public: ~GazeboRosVelodyneLaser();
 
    public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
 
    private: void ConnectCb();
 
    private: sensors::RaySensorPtr parent_ray_sensor_;
 
    private: ros::NodeHandle* nh_;
 
    private: ros::Publisher pub_;
 
    private: std::string topic_name_;
 
    private: std::string frame_name_;
 
    private: bool organize_cloud_;
 
    private: double min_intensity_;
 
    private: double min_range_;
 
    private: double max_range_;
 
    private: double gaussian_noise_;
 
    private: static double gaussianKernel(double mu, double sigma)
    {
      // using Box-Muller transform to generate two independent standard normally distributed normal variables
      // see wikipedia
      double U = (double)rand() / (double)RAND_MAX; // normalized uniform random variable
      double V = (double)rand() / (double)RAND_MAX; // normalized uniform random variable
      return sigma * (sqrt(-2.0 * ::log(U)) * cos(2.0 * M_PI * V)) + mu;
    }
 
    private: boost::mutex lock_;
 
    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 gazebo laserscan
    private: gazebo::transport::NodePtr gazebo_node_;
    private: gazebo::transport::SubscriberPtr sub_;
    private: void OnScan(const ConstLaserScanStampedPtr &_msg);
 
  };
 
} // namespace gazebo
 
#endif /* GAZEBO_ROS_VELODYNE_LASER_H_ */