obstacle_detection_normals_alg_node.cpp

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#include "obstacle_detection_normals_alg_node.h"

ObstacleDetectionNormalsAlgNode::ObstacleDetectionNormalsAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<ObstacleDetectionNormalsAlgorithm>(),KSearch(100),normal_z(1),
  normal_y(-0.2),normal_x(1),min_dist(0.3)
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  this->obstacles_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud>("obstacles", 1);
  this->all_rg_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud2>("all_rg", 1);
  
  // [init subscribers]
  this->input_subscriber_ = this->public_node_handle_.subscribe("input", 1, &ObstacleDetectionNormalsAlgNode::input_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

ObstacleDetectionNormalsAlgNode::~ObstacleDetectionNormalsAlgNode(void)
{
  // [free dynamic memory]
}

void ObstacleDetectionNormalsAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  //this->PointCloud2_msg_.data = my_var;
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]

}

/*  [subscriber callbacks] */
void ObstacleDetectionNormalsAlgNode::input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg) 
{ 
  //ROS_INFO("ObstacleDetectionNormalsAlgNode::input_callback: New Message Received"); 

  // Convert the sensor_msgs/PointCloud2 data to pcl/PointCloud
  pcl::PointCloud<pcl::PointXYZ> cloud;

  // pcl::PointCloud<pcl::PointXYZ> cloud(new pcl::PointCloud<pcl::PointXYZ>());
  pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZRGBNormal>());
  pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_obs(new pcl::PointCloud<pcl::PointXYZRGBNormal>());

  pcl::fromROSMsg (*msg, cloud);

  // pcl::PointCloud<pcl::PointXYZ> cloud_in;
  // std::vector<int> indices;
  // pcl::removeNaNFromPointCloud (cloud, cloud_in, indices);
  
  //use appropiate mutex to shared variables if necessary 
  this->alg_.lock(); 

  if (!cloud.empty()){
    obstacle_detect.cloud_all(KSearch, normal_z, normal_y, normal_x, min_dist, cloud, cloud_out, cloud_obs);
  }
  //unlock previously blocked shared variables 
  this->alg_.unlock();


  // all_rg_msg_.width=msg->width;
  // all_rg_msg_.height=msg->height;
  // all_rg_msg_.is_dense=msg->is_dense;

  // obstacles_msg_.header=msg->header;
  // obstacles_msg_.width=msg->width;
  // obstacles_msg_.height=msg->height;
  // obstacles_msg_.is_dense=msg->is_dense;

        pcl::toROSMsg (*cloud_out, all_rg_msg_);
        pcl::toROSMsg (*cloud_obs, obstacles_msg_);

  sensor_msgs::convertPointCloud2ToPointCloud(obstacles_msg_, obstaclespc_msg_);
  
  all_rg_msg_.header=msg->header;

  this->obstacles_publisher_.publish(this->obstaclespc_msg_);
  this->all_rg_publisher_.publish(this->all_rg_msg_);

  
  //use appropiate mutex to shared variables if necessary 
  //this->alg_.lock(); 
  //this->input_mutex_.enter(); 

  //std::cout << msg->data << std::endl; 

  //unlock previously blocked shared variables 
  //this->alg_.unlock(); 
  //this->input_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void ObstacleDetectionNormalsAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();
min_dist=config.filter_min_dist;
KSearch=config.normal_KSearch;
normal_z=config.normal_z;
normal_y=config.normal_y;
normal_x=config.normal_x;
  this->alg_.unlock();
}

void ObstacleDetectionNormalsAlgNode::addNodeDiagnostics(void)
{
}


/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<ObstacleDetectionNormalsAlgNode>(argc, argv, "obstacle_detection_normals_alg_node");
}