OdometryROS.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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*/

#ifndef ODOMETRYROS_H_
#define ODOMETRYROS_H_

#include <ros/ros.h>
#include <nodelet/nodelet.h>

#include <tf2_ros/transform_broadcaster.h>
#include <tf/transform_listener.h>

#include <std_srvs/Empty.h>
#include <std_msgs/Header.h>

#include <rtabmap_ros/ResetPose.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>

namespace rtabmap {
class Odometry;
}

namespace rtabmap_ros {

class OdometryROS : public nodelet::Nodelet
{

public:
        OdometryROS(bool stereo);
        virtual ~OdometryROS();

        void processData(const rtabmap::SensorData & data, const ros::Time & stamp);

        bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool resetToPose(rtabmap_ros::ResetPose::Request&, rtabmap_ros::ResetPose::Response&);
        bool pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);

        const std::string & frameId() const {return frameId_;}
        const std::string & odomFrameId() const {return odomFrameId_;}
        const rtabmap::ParametersMap & parameters() const {return parameters_;}
        const tf::TransformListener & tfListener() const {return tfListener_;}
        bool isPaused() const {return paused_;}
        bool isOdometryF2M() const;
        rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;

protected:
        virtual void flushCallbacks() = 0;

private:
        virtual void onInit();
        virtual void onOdomInit() = 0;

private:
        rtabmap::Odometry * odometry_;

        // parameters
        std::string frameId_;
        std::string odomFrameId_;
        std::string groundTruthFrameId_;
        bool publishTf_;
        bool waitForTransform_;
        double waitForTransformDuration_;
        bool publishNullWhenLost_;
        bool guessFromTf_;
        rtabmap::ParametersMap parameters_;

        ros::Publisher odomPub_;
        ros::Publisher odomInfoPub_;
        ros::Publisher odomLocalMap_;
        ros::Publisher odomLastFrame_;
        ros::ServiceServer resetSrv_;
        ros::ServiceServer resetToPoseSrv_;
        ros::ServiceServer pauseSrv_;
        ros::ServiceServer resumeSrv_;
        ros::ServiceServer setLogDebugSrv_;
        ros::ServiceServer setLogInfoSrv_;
        ros::ServiceServer setLogWarnSrv_;
        ros::ServiceServer setLogErrorSrv_;
        tf2_ros::TransformBroadcaster tfBroadcaster_;
        tf::TransformListener tfListener_;

        bool paused_;
        int resetCountdown_;
        int resetCurrentCount_;
        bool stereo_;
};

}

#endif