polygon_array_wrapper_nodelet.cpp

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// -*- mode: c++ -*-
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#include "jsk_pcl_ros_utils/polygon_array_wrapper.h"
 
namespace jsk_pcl_ros_utils
{
  void PolygonArrayWrapper::onInit()
  {
    ConnectionBasedNodelet::onInit();
    pub_polygon_array_ = advertise<jsk_recognition_msgs::PolygonArray>(*pnh_,
      "output_polygons", 1);
    pub_coefficients_array_
      = advertise<jsk_recognition_msgs::ModelCoefficientsArray>(*pnh_,
        "output_coefficients", 1);
    onInitPostProcess();
  }
 
  PolygonArrayWrapper::~PolygonArrayWrapper() {
    // message_filters::Synchronizer needs to be called reset
    // before message_filters::Subscriber is freed.
    // Calling reset fixes the following error on shutdown of the nodelet:
    // terminate called after throwing an instance of
    // 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
    //     what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
    // Also see https://github.com/ros/ros_comm/issues/720 .
    sync_.reset();
  }
 
  void PolygonArrayWrapper::subscribe()
  {
    sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
    sub_polygon_.subscribe(*pnh_, "input_polygon", 1);
    sub_coefficients_.subscribe(*pnh_, "input_coefficients", 1);
    sync_->connectInput(sub_polygon_, sub_coefficients_);
    sync_->registerCallback(boost::bind(
                              &PolygonArrayWrapper::wrap,
                              this, _1, _2));
  }
 
  void PolygonArrayWrapper::unsubscribe()
  {
    sub_polygon_.unsubscribe();
    sub_coefficients_.unsubscribe();
  }
  
  void PolygonArrayWrapper::wrap(
    const geometry_msgs::PolygonStamped::ConstPtr& polygon,
    const pcl_msgs::ModelCoefficients::ConstPtr& coefficients)
  {
    jsk_recognition_msgs::PolygonArray array_msg;
    array_msg.header = polygon->header;
    geometry_msgs::PolygonStamped new_polygon(*polygon);
    array_msg.polygons.push_back(new_polygon);
    pub_polygon_array_.publish(array_msg);
 
    jsk_recognition_msgs::ModelCoefficientsArray coefficients_array;
    coefficients_array.header = coefficients->header;
    pcl_msgs::ModelCoefficients new_coefficients(*coefficients);
    coefficients_array.coefficients.push_back(new_coefficients);
    pub_coefficients_array_.publish(coefficients_array);
  }
  
}
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::PolygonArrayWrapper, nodelet::Nodelet);