diff_drive_pose_controller_ros.hpp

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/*
 * Copyright (c) 2013, Marcus Liebhardt, Yujin Robot.
 * 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 Yujin Robot 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 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/*****************************************************************************
 ** Ifdefs
 *****************************************************************************/

#ifndef YOCS_DIFF_DRIVE_POSE_CONTROLLER_ROS_HPP_
#define YOCS_DIFF_DRIVE_POSE_CONTROLLER_ROS_HPP_

/*****************************************************************************
 ** Includes
 *****************************************************************************/
#include <ros/ros.h>
#include <std_msgs/Empty.h>
#include <std_msgs/Float32.h>
#include <std_msgs/String.h>
#include <tf/transform_listener.h>

#include "yocs_diff_drive_pose_controller/diff_drive_pose_controller.hpp"

namespace yocs
{

class DiffDrivePoseControllerROS : public DiffDrivePoseController
{
public:
  DiffDrivePoseControllerROS(ros::NodeHandle& nh, std::string& name) :
      DiffDrivePoseController(name, 0.5, M_PI / 4 * 0.5), nh_(nh)
  {
  }
  ;
  virtual ~DiffDrivePoseControllerROS()
  {
  }
  ;

  bool init();

  void spinOnce();

private:
  bool getPoseDiff();

  virtual void onGoalReached();

  void setControlOutput();

  void controlMaxVelCB(const std_msgs::Float32ConstPtr msg);

  void enableCB(const std_msgs::StringConstPtr msg);

  void disableCB(const std_msgs::EmptyConstPtr msg);

  // basics
  ros::NodeHandle nh_;
  std::string name_;

  // interfaces
  ros::Subscriber enable_controller_subscriber_;
  ros::Subscriber disable_controller_subscriber_;
  ros::Subscriber control_velocity_subscriber_;
  ros::Publisher command_velocity_publisher_;
  ros::Publisher pose_reached_publisher_;

  tf::TransformListener tf_listener_;
  tf::StampedTransform tf_goal_pose_rel_;
  std::string base_frame_name_;
  std::string goal_frame_name_;
};

} // namespace yocs

#endif /* YOCS_DIFF_DRIVE_POSE_CONTROLLER_ROS_HPP_ */