tuw_marker_slam_node.h

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#ifndef TUW_MARKER_SLAM_NODE_H
#define TUW_MARKER_SLAM_NODE_H

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <geometry_msgs/Twist.h>
#include <marker_msgs/MarkerDetection.h>
#include <marker_msgs/MarkerWithCovarianceArray.h>
#include <dynamic_reconfigure/server.h>

#include "tuw_marker_slam/tuw_marker_slam.h"
#include "tuw_marker_slam/SLAMConfig.h"
#include "tuw_marker_slam/EKFSLAMConfig.h"

class SLAMNode : public tuw::SLAM {
public:
    SLAMNode ( ros::NodeHandle & n );                                                                           
    void cycle ();                                                                                              
    void publish ();                                                                                            
private:
    ros::NodeHandle n_;                                                                                         
    ros::NodeHandle n_param_;                                                                                   

    ros::Subscriber sub_cmd_;                                                                                   
    ros::Subscriber sub_marker_;                                                                                

    ros::Publisher pub_xt_;                                                                                     
    ros::Publisher pub_mt_;                                                                                     
    geometry_msgs::PoseWithCovarianceStamped xt_;                                                               
    marker_msgs::MarkerWithCovarianceArray mt_;                                                                 

    tf::TransformBroadcaster tf_broadcaster_;                                                                   
    std::shared_ptr<tf::TransformListener> tf_listener_;                                                        
    bool xzplane_;                                                                                              
    std::string frame_id_map_;                                                                                  
    std::string frame_id_odom_;                                                                                 
    std::string frame_id_base_;                                                                                 

    void callbackCmd ( const geometry_msgs::Twist& );                                                           
    void callbackMarker ( const marker_msgs::MarkerDetection& );                                                

    dynamic_reconfigure::Server<tuw_marker_slam::SLAMConfig> reconfigureServerSLAM_;                            
    dynamic_reconfigure::Server<tuw_marker_slam::SLAMConfig>::CallbackType reconfigureFncSLAM_;                 
    void callbackConfigSLAM ( tuw_marker_slam::SLAMConfig &config, uint32_t level );                            

    std::shared_ptr<dynamic_reconfigure::Server<tuw_marker_slam::EKFSLAMConfig> > reconfigureServerEKFSLAM_;    
    dynamic_reconfigure::Server<tuw_marker_slam::EKFSLAMConfig>::CallbackType reconfigureFncEKFSLAM_;           
    void callbackConfigEKFSLAM ( tuw_marker_slam::EKFSLAMConfig &config, uint32_t level );                      
};

#endif // TUW_MARKER_SLAM_NODE_H