00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 00036 /* Author: Wim Meeusen */ 00037 00038 #ifndef ACTION_PUSH_DOOR_H 00039 #define ACTION_PUSH_DOOR_H 00040 00041 00042 #include <ros/ros.h> 00043 #include <door_msgs/Door.h> 00044 #include <std_msgs/Float64.h> 00045 #include <std_msgs/String.h> 00046 #include <std_srvs/Empty.h> 00047 #include <tf/tf.h> 00048 #include <tf/transform_listener.h> 00049 #include <deprecated_srvs/MoveToPose.h> 00050 #include <kdl/frames.hpp> 00051 #include <door_msgs/DoorGoal.h> 00052 #include <door_msgs/DoorAction.h> 00053 #include <actionlib/server/simple_action_server.h> 00054 #include <boost/thread/mutex.hpp> 00055 00056 namespace door_handle_detector{ 00057 00058 typedef boost::shared_ptr<geometry_msgs::PoseStamped const> PoseConstPtr; 00059 00060 class PushDoorAction 00061 { 00062 public: 00063 PushDoorAction(tf::TransformListener& tf); 00064 ~PushDoorAction(); 00065 00066 private: 00067 void execute(const door_msgs::DoorGoalConstPtr& goal); 00068 void poseCallback(const PoseConstPtr& pose); 00069 00070 ros::NodeHandle node_; 00071 ros::Publisher pose_pub_; 00072 tf::TransformListener& tf_; 00073 actionlib::SimpleActionServer<door_msgs::DoorAction> action_server_; 00074 door_msgs::DoorResult action_result_; 00075 00076 tf::Stamped<tf::Pose> pose_state_; 00077 bool pose_state_received_; 00078 boost::mutex pose_mutex_; 00079 00080 }; 00081 00082 } 00083 #endif