rawlog_play_node.h

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/***********************************************************************************
 * Revised BSD License *
 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
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#ifndef MRPT_RAWLOG_PLAY_NODE_H
#define MRPT_RAWLOG_PLAY_NODE_H

#include "ros/ros.h"
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/LaserScan.h>
#include <dynamic_reconfigure/server.h>
#include "mrpt_rawlog/RawLogRecordConfig.h"
#include "mrpt_rawlog_play/rawlog_play.h"
#include <mrpt_msgs/ObservationRangeBeacon.h>
#include <mrpt_msgs/ObservationRangeBearing.h>
#include <mrpt/obs/CObservation.h>

class RawlogPlayNode : public RawlogPlay
{
   public:
        struct ParametersNode : public Parameters
        {
                static const int MOTION_MODEL_GAUSSIAN = 0;
                static const int MOTION_MODEL_THRUN = 1;
                ParametersNode();
                ros::NodeHandle node;
                void callbackParameters(
                        mrpt_rawlog::RawLogRecordConfig& config, uint32_t level);
                dynamic_reconfigure::Server<mrpt_rawlog::RawLogRecordConfig>
                        reconfigureServer_;
                dynamic_reconfigure::Server<
                        mrpt_rawlog::RawLogRecordConfig>::CallbackType reconfigureFnc_;
                void update(const unsigned long& loop_count);
                double rate;
                std::string base_frame;
                std::string odom_frame;
                std::string tf_prefix;
                int parameter_update_skip;
        };

        RawlogPlayNode(ros::NodeHandle& n);
        ~RawlogPlayNode();
        void init();
        void loop();

   private:  // functions
        ParametersNode* param();
        bool nextEntry();
        void publishSingleObservation(const mrpt::obs::CObservation::Ptr& o);

   private:  // variables
        ros::NodeHandle n_;
        unsigned long loop_count_;
        sensor_msgs::LaserScan msg_laser_;
        mrpt_msgs::ObservationRangeBeacon msg_beacon_;
        mrpt_msgs::ObservationRangeBearing msg_landmark_;
        nav_msgs::Odometry msg_odom_;
        ros::Publisher pub_laser_;
        ros::Publisher pub_beacon_;
        ros::Publisher pub_landmark_;
        std::string odom_frame_;
        std::string base_frame_;
        tf::TransformBroadcaster tf_broadcaster_;
};

#endif  // MRPT_RAWLOG_PLAY_NODE_H