odom_subscriber.h
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00001 /*
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00034 
00035 #ifndef NAV_2D_UTILS_ODOM_SUBSCRIBER_H
00036 #define NAV_2D_UTILS_ODOM_SUBSCRIBER_H
00037 
00038 #include <ros/ros.h>
00039 #include <nav_2d_utils/conversions.h>
00040 #include <nav_msgs/Odometry.h>
00041 #include <nav_2d_msgs/Twist2DStamped.h>
00042 #include <boost/thread/mutex.hpp>
00043 #include <string>
00044 
00045 namespace nav_2d_utils
00046 {
00047 
00052 class OdomSubscriber
00053 {
00054 public:
00061   explicit OdomSubscriber(ros::NodeHandle& nh, std::string default_topic = "odom")
00062   {
00063     std::string odom_topic;
00064     nh.param("odom_topic", odom_topic, default_topic);
00065     odom_sub_ = nh.subscribe<nav_msgs::Odometry>(odom_topic, 1, boost::bind(&OdomSubscriber::odomCallback, this, _1));
00066   }
00067 
00068   inline nav_2d_msgs::Twist2D getTwist() { return odom_vel_.velocity; }
00069   inline nav_2d_msgs::Twist2DStamped getTwistStamped() { return odom_vel_; }
00070 
00071 protected:
00072   void odomCallback(const nav_msgs::Odometry::ConstPtr& msg)
00073   {
00074     ROS_INFO_ONCE("odom received!");
00075     boost::mutex::scoped_lock lock(odom_mutex_);
00076     odom_vel_.header = msg->header;
00077     odom_vel_.velocity = twist3Dto2D(msg->twist.twist);
00078   }
00079 
00080   ros::Subscriber odom_sub_;
00081   nav_2d_msgs::Twist2DStamped odom_vel_;
00082   boost::mutex odom_mutex_;
00083 };
00084 
00085 }  // namespace nav_2d_utils
00086 
00087 #endif  // NAV_2D_UTILS_ODOM_SUBSCRIBER_H


nav_2d_utils
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autogenerated on Wed Jun 26 2019 20:09:36