rawlog_play_node.h

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/***********************************************************************************
 * Revised BSD License                                                             *
 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
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#ifndef MRPT_RAWLOG_PLAY_NODE_H
#define MRPT_RAWLOG_PLAY_NODE_H

#include "ros/ros.h"
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/LaserScan.h>
#include <dynamic_reconfigure/server.h>
#include "mrpt_rawlog/MotionConfig.h"
#include "mrpt_rawlog_play/rawlog_play.h"

class RawlogPlayNode : public RawlogPlay {
public:
    struct ParametersNode : public Parameters {
        static const int MOTION_MODEL_GAUSSIAN = 0;
        static const int MOTION_MODEL_THRUN = 1;
        ParametersNode();
        ros::NodeHandle node;
        void callbackParameters (mrpt_rawlog::MotionConfig &config, uint32_t level );
        dynamic_reconfigure::Server<mrpt_rawlog::MotionConfig> reconfigureServer_;
        dynamic_reconfigure::Server<mrpt_rawlog::MotionConfig>::CallbackType reconfigureFnc_;
        void update(const unsigned long &loop_count);
        double rate;
        std::string base_frame;
        std::string odom_frame;
        std::string tf_prefix;
        int parameter_update_skip;
    };

    RawlogPlayNode ( ros::NodeHandle &n );
    ~RawlogPlayNode();
    void init ();
    void loop ();
private: //functions
    ParametersNode *param();
    bool nextEntry();
private: // variables
    ros::NodeHandle n_;
    unsigned long loop_count_;
    sensor_msgs::LaserScan msg_laser_;
    nav_msgs::Odometry msg_odom_;
    ros::Publisher pub_laser_;
    std::string odom_frame_;
    std::string base_frame_;
    tf::TransformBroadcaster tf_broadcaster_;

};

#endif // MRPT_RAWLOG_PLAY_NODE_H