nearfield_map_pa_node.cpp

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/******************************************************************************
*                                                                             *
* nearfield_map_pa_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                                         *
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******************************************************************************/
 
// local headers
#include "nearfield_map_pa_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_pa_node");
    cNearfieldMapPaNode octomap;
 
    ros::spin();
 
    return 0;
}
 
//**************************[cNearfieldMapPaNode]******************************
cNearfieldMapPaNode::cNearfieldMapPaNode() {
 
    cParameterPaRos paramloader;
 
    // Subscriber for depth images from camera
    if (nodeparams_.topic_in_camera_ != "") {
        sub_camera_ = nh_.subscribe<sensor_msgs::PointCloud2>(
          nodeparams_.topic_in_camera_, 1,
          &cNearfieldMapPaNode::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,
          &cNearfieldMapPaNode::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,
          &cNearfieldMapPaNode::addPcdLaserFullCallbackSub, this);
    }
}
 
//**************************[~cNearfieldMapPaNode]*****************************
cNearfieldMapPaNode::~cNearfieldMapPaNode() {
 
}
 
//**************************[addPcdCameraCallbackSub]**************************
void cNearfieldMapPaNode::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_++;
        publish();
    }
}
 
//**************************[addPcdLaserScanCallbackSub]***********************
void cNearfieldMapPaNode::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_++;
        publish();
    }
}
 
//**************************[addPcdLaserFullCallbackSub]***********************
void cNearfieldMapPaNode::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_++;
        publish();
    }
}