footstep_planner_node.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
// 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 Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt 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
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//=================================================================================================

#ifndef FOOTSTEP_PLANNER_NODE_H__
#define FOOTSTEP_PLANNER_NODE_H__

#include <ros/ros.h>

#include <boost/thread/mutex.hpp>
#include <boost/bind.hpp>

#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>
#include <vigir_footstep_planning_msgs/visualization.h>

#include <vigir_footstep_planner/footstep_planner.h>



namespace vigir_footstep_planning
{
class FootstepPlannerNode
{
public:
  FootstepPlannerNode();
  virtual ~FootstepPlannerNode();

  virtual void initPlugins(ros::NodeHandle& nh);
  virtual void initialize(ros::NodeHandle& nh);

protected:
  // callbacks
  void planningResultCallback(const msgs::StepPlanRequestService::Response& resp);
  void planningResultActionCallback(const msgs::StepPlanRequestService::Response& resp, SimpleActionServer<msgs::StepPlanRequestAction>::Ptr& as);

  void planningFeedbackCallback(const msgs::PlanningFeedback& feedback);
  void planningFeedbackActionCallback(const msgs::PlanningFeedback& feedback, SimpleActionServer<msgs::StepPlanRequestAction>::Ptr& as);

  void planningPreemptionActionCallback(SimpleActionServer<msgs::StepPlanRequestAction>::Ptr& as);

  // subscriber
  void setParams(const std_msgs::StringConstPtr& params_name);
  void stepPlanRequest(const msgs::StepPlanRequestConstPtr& plan_request);
  void goalPoseCallback(const geometry_msgs::PoseStampedConstPtr& goal_pose);

  // service calls
  bool stepPlanRequestService(msgs::StepPlanRequestService::Request& req, msgs::StepPlanRequestService::Response& resp);
  bool updateFootService(msgs::UpdateFootService::Request& req, msgs::UpdateFootService::Response& resp);
  bool updateFeetService(msgs::UpdateFeetService::Request& req, msgs::UpdateFeetService::Response& resp);
  bool updateStepPlanService(msgs::UpdateStepPlanService::Request& req, msgs::UpdateStepPlanService::Response& resp);

  // action server calls
  void stepPlanRequestAction(SimpleActionServer<msgs::StepPlanRequestAction>::Ptr& as);
  void stepPlanRequestPreempt(SimpleActionServer<msgs::StepPlanRequestAction>::Ptr& as);
  void updateFootAction(SimpleActionServer<msgs::UpdateFootAction>::Ptr& as);
  void updateFeetAction(SimpleActionServer<msgs::UpdateFeetAction>::Ptr& as);
  void updateStepPlanAction(SimpleActionServer<msgs::UpdateStepPlanAction>::Ptr& as);

  // subscribers
  ros::Subscriber set_active_parameter_set_sub;
  ros::Subscriber step_plan_request_sub;
  ros::Subscriber goal_pose_sub;

  // publisher
  ros::Publisher step_plan_pub;
  ros::Publisher step_plan_request_vis_pub;
  ros::Publisher step_plan_vis_pub;
  ros::Publisher error_status_pub;
  ros::Publisher temp_step_plan_pub;
  ros::Publisher feedback_pub;

  // service clients
  ros::ServiceClient generate_feet_pose_client;

  // service servers
  ros::ServiceServer step_plan_request_srv;
  ros::ServiceServer update_foot_srv;
  ros::ServiceServer update_feet_srv;
  ros::ServiceServer update_step_plan_srv;

  // action servers
  SimpleActionServer<msgs::StepPlanRequestAction>::Ptr step_plan_request_as;
  SimpleActionServer<msgs::UpdateFootAction>::Ptr update_foot_as;
  SimpleActionServer<msgs::UpdateFeetAction>::Ptr update_feet_as;
  SimpleActionServer<msgs::UpdateStepPlanAction>::Ptr update_step_plan_as;

  mutable boost::recursive_mutex step_plan_request_as_mutex;

  FootstepPlanner::Ptr footstep_planner;
  geometry_msgs::Vector3 foot_size;
};
}
#endif