rotunit_snapshotter.cpp
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00034 
00035 #include <cstdio>
00036 #include <math.h>
00037 #include <ros/ros.h>
00038 #include <sensor_msgs/JointState.h>
00039 
00040 // Services
00041 #include "laser_assembler/AssembleScans2.h"
00042 
00043 // Messages
00044 #include "sensor_msgs/PointCloud2.h"
00045 
00046 /***
00047  * This a simple test app that requests a point cloud from the
00048  * point_cloud_assembler every 4 seconds, and then publishes the
00049  * resulting data
00050  */
00051 namespace laser_assembler
00052 {
00053 
00054 class PeriodicSnapshotter
00055 {
00056 
00057 public:
00058 
00059   PeriodicSnapshotter()
00060   {
00061     // Create a publisher for the clouds that we assemble
00062     pub_ = n_.advertise<sensor_msgs::PointCloud2> ("assembled_cloud", 1);
00063 
00064     sub_ = n_.subscribe("joint_states", 1000, &PeriodicSnapshotter::rotCallback, this);
00065 
00066     // Create the service client for calling the assembler
00067     client_ = n_.serviceClient<AssembleScans2>("assemble_scans2");
00068 
00069     first_time_ = true;
00070     arm_ = false;
00071   }
00072 
00076   int getIndex(const sensor_msgs::JointState::ConstPtr& e)
00077   {
00078     for (size_t i = 0; i < e->name.size(); ++i)
00079     {
00080       if (e->name[i] == "laser_rot_joint")
00081         return i;
00082     }
00083     return -1;
00084   }
00085 
00086   void rotCallback(const sensor_msgs::JointState::ConstPtr& e)
00087   {
00088 
00089     if(first_time_) {
00090       last_time_ = e->header.stamp;
00091       first_time_ = false;
00092       return;
00093     }
00094 
00095     int index = getIndex(e);
00096     if (index < 0)
00097       return;
00098 
00099     double position = fmod(e->position[index], 2 * M_PI);
00100 
00101     if (!arm_ && position > 3) {
00102       arm_ = true;
00103       return;
00104     }
00105 
00106     if(arm_ && position > 0 && position < 1) {
00107 
00108       // Populate our service request based on our timer callback times
00109       AssembleScans2 srv;
00110       srv.request.begin = last_time_;
00111       srv.request.end   = e->header.stamp;
00112 
00113       // Make the service call
00114       if (client_.call(srv))
00115       {
00116         ROS_INFO("Published Cloud with %zu points", srv.response.cloud.width * srv.response.cloud.height) ;
00117         pub_.publish(srv.response.cloud);
00118       }
00119       else
00120       {
00121         ROS_ERROR("Error making service call\n") ;
00122       }
00123 
00124       arm_ = false;
00125       last_time_ = e->header.stamp;
00126     }
00127   }
00128 
00129 private:
00130   ros::NodeHandle n_;
00131   ros::Publisher pub_;
00132   ros::Subscriber sub_;
00133   ros::ServiceClient client_;
00134   bool first_time_;
00135   bool arm_;
00136   ros::Time last_time_;
00137 } ;
00138 
00139 }
00140 
00141 using namespace laser_assembler ;
00142 
00143 int main(int argc, char **argv)
00144 {
00145   ros::init(argc, argv, "rotunit_snapshotter");
00146   ros::NodeHandle n;
00147   ROS_INFO("Waiting for [assemble_scans2] to be advertised");
00148   ros::service::waitForService("assemble_scans2");
00149   ROS_INFO("Found assemble_scans2! Starting the snapshotter");
00150   PeriodicSnapshotter snapshotter;
00151   ros::spin();
00152   return 0;
00153 }


rotunit_snapshotter
Author(s): Jochen Sprickerhof
autogenerated on Mon Oct 6 2014 01:39:19