cmd_vel_mux_nodelet.hpp
Go to the documentation of this file.
00001 
00009 /*****************************************************************************
00010  ** Ifdefs
00011  *****************************************************************************/
00012 
00013 #ifndef YUJIN_OCS_CMD_VEL_MUX_HPP_
00014 #define YUJIN_OCS_CMD_VEL_MUX_HPP_
00015 
00016 /*****************************************************************************
00017  ** Includes
00018  *****************************************************************************/
00019 
00020 #include <ros/ros.h>
00021 #include <nodelet/nodelet.h>
00022 #include <dynamic_reconfigure/server.h>
00023 
00024 #include "yocs_cmd_vel_mux/reloadConfig.h"
00025 #include "yocs_cmd_vel_mux/cmd_vel_subscribers.hpp"
00026 
00027 /*****************************************************************************
00028 ** Namespaces
00029 *****************************************************************************/
00030 
00031 namespace yocs_cmd_vel_mux {
00032 
00033 /*****************************************************************************
00034  ** CmdVelMux
00035  *****************************************************************************/
00036 
00037 class CmdVelMuxNodelet : public nodelet::Nodelet
00038 {
00039 public:
00040   virtual void onInit();
00041 
00042   CmdVelMuxNodelet()
00043   {
00044     dynamic_reconfigure_server = NULL;
00045   }
00046 
00047   ~CmdVelMuxNodelet()
00048   {
00049     if (dynamic_reconfigure_server != NULL)
00050       delete dynamic_reconfigure_server;
00051   }
00052 
00053 private:
00054   CmdVelSubscribers cmd_vel_sub; 
00055   ros::Publisher mux_cmd_vel_pub; 
00056   ros::Publisher active_subscriber; 
00058   void timerCallback(const ros::TimerEvent& event, unsigned int idx);
00059   void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& msg, unsigned int idx);
00060 
00061   /*********************
00062   ** Dynamic Reconfigure
00063   **********************/
00064   dynamic_reconfigure::Server<yocs_cmd_vel_mux::reloadConfig> * dynamic_reconfigure_server;
00065   dynamic_reconfigure::Server<yocs_cmd_vel_mux::reloadConfig>::CallbackType dynamic_reconfigure_cb;
00066   void reloadConfiguration(yocs_cmd_vel_mux::reloadConfig &config, uint32_t unused_level);
00067 
00068   /*********************
00069    ** Private Classes
00070    **********************/
00071   // Functor assigned to each incoming velocity topic to bind it to cmd_vel callback
00072   class CmdVelFunctor
00073   {
00074   private:
00075     unsigned int idx;
00076     CmdVelMuxNodelet* node;
00077 
00078   public:
00079     CmdVelFunctor(unsigned int idx, CmdVelMuxNodelet* node) :
00080         idx(idx), node(node)
00081     {
00082     }
00083 
00084     void operator()(const geometry_msgs::Twist::ConstPtr& msg)
00085     {
00086       node->cmdVelCallback(msg, idx);
00087     }
00088   };
00089 
00090   // Functor assigned to each velocity messages source to bind it to timer callback
00091   class TimerFunctor
00092   {
00093   private:
00094     unsigned int idx;
00095     CmdVelMuxNodelet* node;
00096 
00097   public:
00098     TimerFunctor(unsigned int idx, CmdVelMuxNodelet* node) :
00099         idx(idx), node(node)
00100     {
00101     }
00102 
00103     void operator()(const ros::TimerEvent& event)
00104     {
00105       node->timerCallback(event, idx);
00106     }
00107   };
00108 };
00109 
00110 } // namespace yocs_cmd_vel_mux
00111 
00112 #endif /* YUJIN_OCS_CMD_VEL_MUX_HPP_ */


yocs_cmd_vel_mux
Author(s): Jorge Santos Simon
autogenerated on Thu Jun 6 2019 21:47:16