00001 /* 00002 * Copyright (c) 2013, Yujin Robot. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of Yujin Robot nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef _FAKE_KOBUKI_NODE_H_ 00031 #define _FAKE_KOBUKI_NODE_H_ 00032 00033 #include <ros/ros.h> 00034 #include <geometry_msgs/Twist.h> 00035 #include <tf/transform_broadcaster.h> 00036 #include <sensor_msgs/Imu.h> 00037 #include <kobuki_msgs/ButtonEvent.h> 00038 #include <kobuki_msgs/BumperEvent.h> 00039 #include <kobuki_msgs/CliffEvent.h> 00040 #include <kobuki_msgs/DigitalOutput.h> 00041 #include <kobuki_msgs/DigitalInputEvent.h> 00042 #include <kobuki_msgs/ExternalPower.h> 00043 #include <kobuki_msgs/DockInfraRed.h> 00044 #include <kobuki_msgs/Led.h> 00045 #include <kobuki_msgs/MotorPower.h> 00046 #include <kobuki_msgs/PowerSystemEvent.h> 00047 #include <kobuki_msgs/RobotStateEvent.h> 00048 #include <kobuki_msgs/SensorState.h> 00049 #include <kobuki_msgs/Sound.h> 00050 #include <kobuki_msgs/VersionInfo.h> 00051 #include <kobuki_msgs/WheelDropEvent.h> 00052 00053 #include "fake_kobuki.h" 00054 00055 namespace kobuki 00056 { 00057 class FakeKobukiRos 00058 { 00059 public: 00060 FakeKobukiRos(std::string& node_name); 00061 ~FakeKobukiRos(); 00062 00063 bool init(ros::NodeHandle& nh); 00064 bool update(); 00065 00066 private: 00067 // private functions 00068 void advertiseTopics(ros::NodeHandle& nh); 00069 void subscribeTopics(ros::NodeHandle& nh); 00070 void publishVersionInfoOnce(); 00071 00072 // subscriber callbacks 00073 void subscribeVelocityCommand(const geometry_msgs::TwistConstPtr msg); 00074 void subscribeMotorPowerCommand(const kobuki_msgs::MotorPowerConstPtr msg); 00075 00076 void updateJoint(unsigned int index,double& w,ros::Duration step_time); 00077 void updateOdometry(double w_left,double w_right, ros::Duration step_time); 00078 void updateTF(geometry_msgs::TransformStamped& odom_tf); 00079 00081 // Variables 00083 std::string name; 00084 ros::Time last_cmd_vel_time; 00085 ros::Time prev_update_time; 00086 00087 // version_info, joint_states 00088 std::map<std::string,ros::Publisher> publisher; 00089 // button, bumper, cliff, wheel_drop, power_system, digital_input, robot_state 00090 std::map<std::string,ros::Publisher> event_publisher; 00091 // sensor_core, dock_ir, imu_data 00092 std::map<std::string,ros::Publisher> sensor_publisher; 00093 // no debug publisher 00094 tf::TransformBroadcaster tf_broadcaster; 00095 00096 // command subscribers 00097 std::map<std::string,ros::Subscriber> subscriber; 00098 00099 FakeKobuki kobuki; 00100 }; 00101 } 00102 #endif