FmkRobotROSBridge.h

Go to the documentation of this file.

// -*- C++ -*-
#ifndef FMKROBOTROSBRIDGE_H
#define FMKROBOTROSBRIDGE_H

// ROS
#include "ros/ros.h"
#include "ros/callback_queue.h"
#include "std_srvs/Empty.h"
#include "geometry_msgs/Twist.h"
#include "nav_msgs/Odometry.h"
#include "tf/transform_broadcaster.h"

// rtm
#include <rtm/idl/BasicDataTypeSkel.h>
#include <rtm/Manager.h>
#include <rtm/DataFlowComponentBase.h>
#include <rtm/CorbaPort.h>
#include <rtm/DataInPort.h>
#include <rtm/DataOutPort.h>

// Service implementation headers
// <rtc-template block="service_impl_h">

// </rtc-template>

// Service Consumer stub headers
// <rtc-template block="consumer_stub_h">
#include "VehicleServiceStub.h"
// </rtc-template>

using namespace RTC;

class FmkRobotROSBridge  : public RTC::DataFlowComponentBase
{
 public:
  FmkRobotROSBridge(RTC::Manager* manager);
  ~FmkRobotROSBridge();

  // The initialize action (on CREATED->ALIVE transition)
  // formaer rtc_init_entry() 
 virtual RTC::ReturnCode_t onInitialize();

  // The finalize action (on ALIVE->END transition)
  // formaer rtc_exiting_entry()
  // virtual RTC::ReturnCode_t onFinalize();

  // The startup action when ExecutionContext startup
  // former rtc_starting_entry()
  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);

  // The shutdown action when ExecutionContext stop
  // former rtc_stopping_entry()
  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);

  // The activated action (Active state entry action)
  // former rtc_active_entry()
  // virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);

  // The deactivated action (Active state exit action)
  // former rtc_active_exit()
  // virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);

  // The execution action that is invoked periodically
  // former rtc_active_do()
  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);

  // The aborting action when main logic error occurred.
  // former rtc_aborting_entry()
  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);

  // The error action in ERROR state
  // former rtc_error_do()
  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);

  // The reset action that is invoked resetting
  // This is same but different the former rtc_init_entry()
  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
  
  // The state update action that is invoked after onExecute() action
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);

  // The action that is invoked when execution context's rate is changed
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);

  void onVelocityCommand(const geometry_msgs::TwistConstPtr& msg);
  bool onHaltMotorService(std_srvs::Empty::Request  &req,
                          std_srvs::Empty::Response &res);
  bool onResetMotorService(std_srvs::Empty::Request  &req,
                           std_srvs::Empty::Response &res);

 protected:
  // Configuration variable declaration
  // <rtc-template block="config_declare">
  
  // </rtc-template>

  // DataInPort declaration
  // <rtc-template block="inport_declare">

  // </rtc-template>

  // DataOutPort declaration
  // <rtc-template block="outport_declare">

  // </rtc-template>

  // CORBA Port declaration
  // <rtc-template block="corbaport_declare">
  RTC::CorbaPort m_VehicleServicePort;
  // </rtc-template>

  // Service declaration
  // <rtc-template block="service_declare">

  // </rtc-template>

  // Consumer declaration
  // <rtc-template block="consumer_declare">
  RTC::CorbaConsumer<VehicleService> m_service0;

  // </rtc-template>

 private:
  ros::NodeHandle nh;
  ros::Subscriber velocity_sub;
  ros::Publisher  odometry_pub;
  ros::ServiceServer halt_srv, reset_srv;
  tf::TransformBroadcaster tf_pub;
  geometry_msgs::Twist velocity;
  double max_vx, max_vw, max_ax, max_aw;
  Position pos_prev;
  ros::Time tm_prev;

};


extern "C"
{
  DLL_EXPORT void FmkRobotROSBridgeInit(RTC::Manager* manager);
};

#endif // FMKROBOTROSBRIDGE_H