00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 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/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab 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 00036 00037 #ifndef JSK_PCL_ROS_COLLISION_DETECTOR_H_ 00038 #define JSK_PCL_ROS_COLLISION_DETECTOR_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <sensor_msgs/PointCloud2.h> 00042 #include <jsk_recognition_msgs/CheckCollision.h> 00043 00044 #include <pcl/point_types.h> 00045 #include <pcl_ros/transforms.h> 00046 #include <tf/transform_listener.h> 00047 #include <tf/transform_broadcaster.h> 00048 #include <std_msgs/Bool.h> 00049 00050 #include <jsk_pcl_ros/self_mask_urdf_robot.h> 00051 00052 namespace jsk_pcl_ros 00053 { 00054 class CollisionDetector: public jsk_topic_tools::DiagnosticNodelet 00055 { 00056 public: 00057 typedef boost::shared_ptr<CollisionDetector> Ptr; 00058 CollisionDetector(): DiagnosticNodelet("CollisionDetector") {} 00059 00060 protected: 00061 virtual void onInit(); 00062 virtual void subscribe(); 00063 virtual void unsubscribe(); 00064 00065 virtual void initSelfMask(); 00066 virtual bool checkCollision(const sensor_msgs::JointState& joint, 00067 const geometry_msgs::PoseStamped& pose); 00068 virtual void pointcloudCallback(const sensor_msgs::PointCloud2::ConstPtr& msg); 00069 virtual bool serviceCallback(jsk_recognition_msgs::CheckCollision::Request &req, 00070 jsk_recognition_msgs::CheckCollision::Response &res); 00071 boost::mutex mutex_; 00072 ros::Subscriber sub_; 00073 ros::ServiceServer service_; 00074 00075 std::string world_frame_id_; 00076 std::string cloud_frame_id_; 00077 boost::shared_ptr<robot_self_filter::SelfMaskUrdfRobot> self_mask_; 00078 ros::Time cloud_stamp_; 00079 pcl::PointCloud<pcl::PointXYZ> cloud_; 00080 tf::TransformListener tf_listener_; 00081 tf::TransformBroadcaster tf_broadcaster_; 00082 }; 00083 } 00084 00085 #endif