virtual_nose_node.cpp

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* Author: Gonçalo Cabrita on 28/11/2010
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#include <ros/ros.h>
#include <plumesim/ReadPlumeSim.h>
#include <lse_sensor_msgs/Nostril.h>
#include <nav_msgs/Odometry.h>
#include <cstdlib>

using namespace plumesim;

nav_msgs::Odometry my_odom;

void odomCallback(const nav_msgs::OdometryConstPtr& msg)
{
        my_odom.pose.pose.position.x = msg->pose.pose.position.x;
        my_odom.pose.pose.position.y = msg->pose.pose.position.y;
        my_odom.pose.pose.position.z = msg->pose.pose.position.z;
}

int main(int argc, char **argv)
{
        ros::init(argc, argv, "virtual_nose_node");
        
        ROS_INFO("VirtualNose for ROS v0.2");

        ros::NodeHandle n;
        ros::NodeHandle pn("~");
        
        std::string frame_id;
        pn.param<std::string>("frame_id", frame_id, "base_link");
        
        std::string plumesim_name;
        pn.param<std::string>("plumesim_name", plumesim_name, "plumesim/read_plumesim");
        
        ros::Subscriber odom_sub = n.subscribe("odom", 10, odomCallback);
        
        ros::Publisher nose_pub = n.advertise<lse_sensor_msgs::Nostril>("/nose", 10);
        
        ros::ServiceClient client = n.serviceClient<plumesim::ReadPlumeSim>(plumesim_name.c_str());     

        ros::Rate r(10);
        while(ros::ok())
        {
                plumesim::ReadPlumeSim srv;
                srv.request.odom.pose.pose.position.x = my_odom.pose.pose.position.x;
                srv.request.odom.pose.pose.position.y = my_odom.pose.pose.position.y;
                srv.request.odom.pose.pose.position.z = my_odom.pose.pose.position.z;

                if(client.call(srv))
                {
                                lse_sensor_msgs::Nostril nose_msg;
                                
                        nose_msg.reading = srv.response.nostril.reading*3300.00/100.0;
                        nose_msg.header.stamp = ros::Time::now();
                        nose_msg.header.frame_id = frame_id;
                                nose_msg.min_reading = 0.0;
                                nose_msg.max_reading = 3300.0;
                                nose_msg.sensor_model = "Virtual Nose";
                                
                                nose_pub.publish(nose_msg);
                }
                else
                {
                        ROS_ERROR("Virtual Nose -- Failed to get a reading from PlumeSim.");
                }
                ros::spinOnce();
                r.sleep();
        }

        return(0);
}