srs_env_model: topics_list.h Source File

Go to the documentation of this file.
00001 /******************************************************************************
00002  * \file
00003  *
00004  * $Id:$
00005  *
00006  * Copyright (C) Brno University of Technology
00007  *
00008  * This file is part of software developed by dcgm-robotics@FIT group.
00009  *
00010  * Author: Michal Spanel (spanel@fit.vutbr.cz)
00011  * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
00012  * Date: dd/mm/2012
00013  * 
00014  * This file is free software: you can redistribute it and/or modify
00015  * it under the terms of the GNU Lesser General Public License as published by
00016  * the Free Software Foundation, either version 3 of the License, or
00017  * (at your option) any later version.
00018  * 
00019  * This file is distributed in the hope that it will be useful,
00020  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00021  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00022  * GNU Lesser General Public License for more details.
00023  * 
00024  * You should have received a copy of the GNU Lesser General Public License
00025  * along with this file.  If not, see <http://www.gnu.org/licenses/>.
00026  */
00027 
00028 #pragma once
00029 #ifndef BUT_ENV_MDOEL_TOPICS_LIST_H
00030 #define BUT_ENV_MDOEL_TOPICS_LIST_H
00031 
00032 #include "services_list.h"
00033 
00034 namespace srs_env_model
00035 {
00039 static const std::string WORLD_FRAME_ID = "/map";
00040 static const std::string BASE_FRAME_ID = "/base_footprint";
00041 static const int NUM_PCFRAMES_PROCESSED = 3;
00042 
00046 static const std::string COLLISION_MAP_PUBLISHER_NAME = PACKAGE_NAME_PREFIX + std::string("/collision_map");
00047 static const std::string COLLISION_MAP_FRAME_ID = "/base_footprint";
00048 static const double COLLISION_MAP_RADIUS_LIMIT = 2.0;
00049 
00053 static const std::string COLLISION_OBJECT_PUBLISHER_NAME = PACKAGE_NAME_PREFIX + std::string("/collision_object");
00054 static const std::string COLLISION_OBJECT_FRAME_ID = "/map";
00055 
00059 static const std::string IM_SERVER_FRAME_ID = "/map";
00060 static const std::string IM_SERVER_TOPIC_NAME = PACKAGE_NAME_PREFIX + std::string("/im_server");
00061 
00065 static const std::string OLD_IM_SERVER_TOPIC_NAME = PACKAGE_NAME_PREFIX + std::string("/old_im_server");
00066 
00070 static const std::string MARKERARRAY_PUBLISHER_NAME = PACKAGE_NAME_PREFIX + std::string("/marker_array_object");
00071 static const std::string MARKERARRAY_FRAME_ID = "/map";
00072 
00076 static const std::string MAP2D_PUBLISHER_NAME = PACKAGE_NAME_PREFIX + std::string("/map2d_object");
00077 static const std::string MAP2D_FRAME_ID = "/map";
00078 
00082 static const std::string COLLISIONGRID_PUBLISHER_NAME = PACKAGE_NAME_PREFIX + std::string("/collision_grid_object");
00083 
00084 
00088 static const std::string OCTOMAP_PUBLISHER_NAME = PACKAGE_NAME_PREFIX + std::string("/binary_octomap");
00089 static const std::string OCTOMAP_FRAME_ID = "/map";
00090 static const std::string CAMERA_INFO_TOPIC_NAME = "camera_info"; // /cam3d/rgb/camera_info
00091 static const std::string MARKERS_TOPIC_NAME = "/visualization_marker";
00092 
00096 static const std::string POINTCLOUD_CENTERS_PUBLISHER_NAME = PACKAGE_NAME_PREFIX + std::string("/pointcloud_centers");
00097 static const std::string SUBSCRIBER_POINT_CLOUD_NAME = "points_in"; // /cam3d/rgb/points
00098 //static const std::string DEFAULT_FRAME_ID = "/head_cam3d_link";
00099 static const std::string SUBSCRIBER_FILTERING_CLOUD_NAME="points_filter";
00100 
00104 static const std::string SUBSCRIBER_CAMERA_POSITION_NAME = "rviz_camera_position"; // /rviz_camera_position
00105 static const std::string VISIBLE_POINTCLOUD_CENTERS_PUBLISHER_NAME = PACKAGE_NAME_PREFIX
00106     + std::string("/visible_pointcloud_centers");
00107 
00111 static const std::string CPC_CAMERA_INFO_PUBLISHER_NAME = CAMERA_INFO_TOPIC_NAME; // /cam3d/rgb/camera_info
00112 static const std::string CPC_SIMPLE_PC_PUBLISHING_TOPIC_NAME = PACKAGE_NAME_PREFIX + std::string("/differential_pointcloud_centers");
00113 static const std::string CPC_COMPLETE_TOPIC_NAME = PACKAGE_NAME_PREFIX + std::string("/octomap_updates");
00114 static const int CPC_NUM_DIFFERENTIAL_FRAMES = 5;
00115 
00119 static const std::string REGISTRATION_CONSTRAINED_CLOUD_PUBLISHER_NAME = PACKAGE_NAME_PREFIX + std::string("/registration_constrained_cloud");
00120 
00124 static const std::string CPC_INPUT_TOPIC_NAME = "input"; // /but_env_model/octomap_updates
00125 static const std::string CPC_OUTPUT_TOPIC_NAME = "output"; //PACKAGE_NAME_PREFIX + std::string("/cpc_pointcloud_centers");
00126 static const std::string CPC_CAMERA_FRAME = std::string("/head_cam3d_link");
00127 static const std::string CPC_WORLD_FRAME = std::string("/map");
00128 
00132 static const std::string ContextChanged_TOPIC = PACKAGE_NAME_PREFIX + std::string("/context/changed");
00133 
00134 }
00135 
00136 #endif // BUT_ENV_MDOEL_TOPICS_LIST_H