moped_handler_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _moped_handler_alg_node_h_
#define _moped_handler_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "moped_handler_alg.h"

// [publisher subscriber headers]
#include <pr_msgs/ObjectPoseList.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>

// [service client headers]
#include <iri_moped_handler/enable.h>

// [action server client headers]
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <iri_moped_actionserver/mopedAction.h>

// Time synchronizer libs
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/time_synchronizer.h>

using namespace sensor_msgs;
using namespace message_filters;

// PCL specific includes
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

class MopedHandlerAlgNode : public algorithm_base::IriBaseAlgorithm<MopedHandlerAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher outputOPL_publisher_;
    pr_msgs::ObjectPoseList ObjectPoseList_msg_;

    // [subscriber attributes]
        message_filters::Subscriber<sensor_msgs::Image> subImage_;
        message_filters::Subscriber<sensor_msgs::PointCloud2> subPointCloud_;

        // NOTE: When using "ApproximateTime" getting images from different moments may happen.
        typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::PointCloud2> MySyncPolicy;
        message_filters::Synchronizer<MySyncPolicy> *sync_;

    // [service attributes]
    ros::ServiceServer enable_server_;
    bool enableCallback(iri_moped_handler::enable::Request &req, iri_moped_handler::enable::Response &res);
    CMutex enable_mutex_;

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<iri_moped_actionserver::mopedAction> moped_client_;
    iri_moped_actionserver::mopedGoal moped_goal_;
    void mopedMakeActionRequest();
    void mopedDone(const actionlib::SimpleClientGoalState& state,  const iri_moped_actionserver::mopedResultConstPtr& result);
    void mopedActive();
    void mopedFeedback(const iri_moped_actionserver::mopedFeedbackConstPtr& feedback);


  public:
    MopedHandlerAlgNode(void);

    ~MopedHandlerAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]

        // Other functions
        void callback(const ImageConstPtr& image, const PointCloud2ConstPtr& pcl);

        // Attributes
        sensor_msgs::Image inputImage;
        sensor_msgs::PointCloud2 inputPointCloud;
        pcl::PointCloud<pcl::PointXYZ> pcl_;

        // Control variables.
        bool working;
};

#endif