nearfield_map_degrading_native_node.cpp

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/******************************************************************************
*                                                                             *
* nearfield_map_degrading_native_node.cpp                                     *
* =======================================                                     *
*                                                                             *
*******************************************************************************
*                                                                             *
* Repository:                                                                 *
*   https://github.com/TUC-ProAut/ros_nearfield_map                           *
*                                                                             *
* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
* Author:                                                                     *
*   Peter Weissig                                                             *
*                                                                             *
*******************************************************************************
*                                                                             *
* New BSD License                                                             *
*                                                                             *
* Copyright (c) 2015-2021 TU Chemnitz                                         *
* All rights reserved.                                                        *
*                                                                             *
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*      this list of conditions and the following disclaimer.                  *
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*    * Neither the name of the copyright holder nor the names of its          *
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*      this software without specific prior written permission.               *
*                                                                             *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS         *
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******************************************************************************/
 
// local headers
#include "nearfield_map_degrading_native_node.h"
 
// ros headers
#include <parameter_pa/parameter_pa_ros.h>
 
// standard headers
#include <string>
 
//**************************[main]*********************************************
int main(int argc, char **argv) {
 
    ros::init(argc, argv, "nearfield_map_native_node");
    cNearfieldMapDegradingNativeNode octomap;
 
    ros::spin();
 
    return 0;
}
 
//**************************[cNearfieldMapDegradingNativeNode]*****************
cNearfieldMapDegradingNativeNode::cNearfieldMapDegradingNativeNode() {
 
    cParameterPaRos paramloader;
    paramloader.load("~/degrading_time"          , rosparams_.degrading_time_);
    paramloader.load("~/auto_degrading"          , rosparams_.auto_degrading_);
    paramloader.load("~/auto_degrading_intervall",
      rosparams_.auto_degrading_intervall_);
 
    // Subscriber for depth images from camera
    if (nodeparams_.topic_in_camera_ != "") {
        sub_camera_ = nh_.subscribe<sensor_msgs::PointCloud2>(
          nodeparams_.topic_in_camera_, 1,
          &cNearfieldMapDegradingNativeNode::addPcdCameraCallbackSub, this);
    }
    // Subscriber for single laserscans
    if (nodeparams_.topic_in_laser_scan_ != "") {
        sub_laser_scan_ = nh_.subscribe<sensor_msgs::PointCloud2>(
          nodeparams_.topic_in_laser_scan_, 10,
          &cNearfieldMapDegradingNativeNode::addPcdLaserScanCallbackSub, this);
    }
    // Subscriber for full laserscans
    if (nodeparams_.topic_in_laser_full_ != "") {
        sub_laser_full_ = nh_.subscribe<sensor_msgs::PointCloud2>(
          nodeparams_.topic_in_laser_full_, 1,
          &cNearfieldMapDegradingNativeNode::addPcdLaserFullCallbackSub, this);
    }
}
 
//**************************[~cNearfieldMapDegradingNativeNode]****************
cNearfieldMapDegradingNativeNode::~cNearfieldMapDegradingNativeNode() {
 
}
 
//**************************[addPcdCameraCallbackSub]**************************
void cNearfieldMapDegradingNativeNode::addPcdCameraCallbackSub(
  const sensor_msgs::PointCloud2ConstPtr &msg) {
 
    if (!updateTime(msg->header.stamp)) {
        tf_listener_.clear();
        return;
    }
 
    tf::StampedTransform transform;
    if (! checkTF(msg->header, transform)) { return;}
 
    if (addCloud(*msg, params_addcloud_camera_, transform)) {
        count_camera_++;
        checkDegrading();
        publish();
    }
}
 
//**************************[addPcdLaserScanCallbackSub]***********************
void cNearfieldMapDegradingNativeNode::addPcdLaserScanCallbackSub(
  const sensor_msgs::PointCloud2ConstPtr &msg) {
 
    if (!updateTime(msg->header.stamp)) {
        tf_listener_.clear();
        return;
    }
 
    tf::StampedTransform transform;
    if (! checkTF(msg->header, transform)) { return;}
 
    if (addCloud(*msg, params_addcloud_laser_scan_, transform)) {
        count_laser_scan_++;
        checkDegrading();
        publish();
    }
}
 
//**************************[addPcdLaserFullCallbackSub]***********************
void cNearfieldMapDegradingNativeNode::addPcdLaserFullCallbackSub(
  const sensor_msgs::PointCloud2ConstPtr &msg) {
 
    if (!updateTime(msg->header.stamp)) {
        tf_listener_.clear();
        return;
    }
 
    tf::StampedTransform transform;
    if (! checkTF(msg->header, transform)) { return;}
 
    if (addCloud(*msg, params_addcloud_laser_full_, transform)) {
        count_laser_full_++;
        checkDegrading();
        publish();
    }
}