kobuki_bumper2pc.hpp

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/*
 * Copyright (c) 2013, Yujin Robot.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Yujin Robot nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef _KOBUKI_BUMPER2PC_HPP_
#define _KOBUKI_BUMPER2PC_HPP_

/*****************************************************************************
 ** Includes
 *****************************************************************************/

#include <ros/ros.h>
#include <nodelet/nodelet.h>

#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>

#include <kobuki_msgs/CliffEvent.h>
#include <kobuki_msgs/BumperEvent.h>

/*****************************************************************************
 ** Namespace
 *****************************************************************************/

namespace kobuki_bumper2pc
{

class Bumper2PcNodelet : public nodelet::Nodelet
{
public:
  Bumper2PcNodelet()  { }
  ~Bumper2PcNodelet() { }

  virtual void onInit();

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

private:
  double pointcloud_radius_;
  double pointcloud_side_x_;
  double pointcloud_side_y_;

  ros::Publisher  pointcloud_pub_;

  ros::Subscriber cliff_event_sub_;
  ros::Subscriber bumper_event_sub_;

  pcl::PointCloud<pcl::PointXYZ> pointcloud_;

  void cliffEventCB(const kobuki_msgs::CliffEvent::ConstPtr& msg);

  void bumperEventCB(const kobuki_msgs::BumperEvent::ConstPtr& msg);
};

} // namespace kobuki_bumper2pc

#endif // _KOBUKI_BUMPER2PC_HPP_