pointcloud_to_pcd_alg_node.cpp

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#include "pointcloud_to_pcd_alg_node.h"

PointcloudToPcdAlgNode::PointcloudToPcdAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<PointcloudToPcdAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  store_pointcloud_server_ = public_node_handle_.advertiseService("store_pointcloud", &PointcloudToPcdAlgNode::store_pointcloudCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void PointcloudToPcdAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
}

/*  [subscriber callbacks] */

/*  [service callbacks] */
bool PointcloudToPcdAlgNode::store_pointcloudCallback(iri_perception_msgs::StorePointCloud2::Request &req, iri_perception_msgs::StorePointCloud2::Response &res) 
{ 
  ROS_INFO("PointcloudToPcdAlgNode::store_pointcloudCallback: New Request Received!"); 

  //use appropiate mutex to shared variables if necessary 
  alg_.lock(); 
  store_pointcloud_mutex_.enter(); 
  
  // Parameters
  sensor_msgs::PointCloud2::ConstPtr point_cloud;
  point_cloud = boost::make_shared<sensor_msgs::PointCloud2>(req.point_cloud);

  Eigen::Vector4f origin = Eigen::Vector4f(req.sensor_pose.pose.position.x, req.sensor_pose.pose.position.y, req.sensor_pose.pose.position.z, 1.0);
  Eigen::Quaternionf orientation = Eigen::Quaternionf (req.sensor_pose.pose.orientation.w, req.sensor_pose.pose.orientation.x, req.sensor_pose.pose.orientation.y, req.sensor_pose.pose.orientation.z);
  bool binary_mode = false;
    
  if(!alg_.isRunning(req.file_name.data, point_cloud, origin, orientation, binary_mode )) 
  { 
    ROS_INFO("PointcloudToPcdAlgNode::store_pointcloudCallback: ERROR: alg is not on run mode yet."); 
  } 

  //unlock previously blocked shared variables 
  alg_.unlock(); 
  store_pointcloud_mutex_.exit(); 

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

void PointcloudToPcdAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void PointcloudToPcdAlgNode::addNodeDiagnostics(void)
{
}

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