00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _tibi_dabo_platform_simulator_alg_node_h_ 00026 #define _tibi_dabo_platform_simulator_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "tibi_dabo_platform_simulator_alg.h" 00030 00031 #include <geometry_msgs/PoseWithCovariance.h> 00032 #include <geometry_msgs/TwistWithCovariance.h> 00033 #include <geometry_msgs/Transform.h> 00034 #include <tf/transform_broadcaster.h> 00035 00036 // [publisher subscriber headers] 00037 #include <nav_msgs/Odometry.h> 00038 #include <geometry_msgs/Twist.h> 00039 00040 // [service client headers] 00041 00042 // [action server client headers] 00043 00048 class TibiDaboPlatformSimulatorAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboPlatformSimulatorAlgorithm> 00049 { 00050 private: 00051 // [publisher attributes] 00052 ros::Publisher odom_publisher_; 00053 nav_msgs::Odometry Odometry_msg_; 00054 00055 // [subscriber attributes] 00056 ros::Subscriber cmd_vel_subscriber_; 00057 void cmd_vel_callback(const geometry_msgs::Twist::ConstPtr& msg); 00058 CMutex cmd_vel_mutex_; 00059 00060 // [service attributes] 00061 00062 // [client attributes] 00063 00064 // [action server attributes] 00065 00066 // [action client attributes] 00067 00068 geometry_msgs::Transform transform; 00069 geometry_msgs::PoseWithCovariance pose; 00070 geometry_msgs::TwistWithCovariance twist; 00071 tf::TransformBroadcaster odom_broadcaster; 00072 00073 public: 00080 TibiDaboPlatformSimulatorAlgNode(void); 00081 00088 ~TibiDaboPlatformSimulatorAlgNode(void); 00089 00090 protected: 00103 void mainNodeThread(void); 00104 00117 void node_config_update(Config &config, uint32_t level); 00118 00125 void addNodeDiagnostics(void); 00126 00127 // [diagnostic functions] 00128 00129 // [test functions] 00130 }; 00131 00132 #endif