00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: TKruse 00036 *********************************************************************/ 00037 00038 #ifndef ODOMETRY_HELPER_ROS2_H_ 00039 #define ODOMETRY_HELPER_ROS2_H_ 00040 00041 #include <tf/transform_datatypes.h> 00042 #include <nav_msgs/Odometry.h> 00043 #include <ros/ros.h> 00044 #include <boost/thread.hpp> 00045 00046 namespace base_local_planner { 00047 00048 class OdometryHelperRos { 00049 public: 00050 00051 OdometryHelperRos(std::string odom_topic); 00052 ~OdometryHelperRos() {} 00053 00058 void odomCallback(const nav_msgs::Odometry::ConstPtr& msg); 00059 00060 void getOdom(nav_msgs::Odometry& base_odom); 00061 00062 void getRobotVel(tf::Stamped<tf::Pose>& robot_vel); 00063 00064 private: 00065 // we listen on odometry on the odom topic 00066 ros::Subscriber odom_sub_; 00067 nav_msgs::Odometry base_odom_; 00068 boost::mutex odom_mutex_; 00069 // global tf frame id 00070 std::string frame_id_; 00071 }; 00072 00073 } /* namespace base_local_planner */ 00074 #endif /* ODOMETRY_HELPER_ROS2_H_ */