00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00036 00037 00038 #include <ros/ros.h> 00039 #include <laser_joint_projector/laser_joint_projector.h> 00040 #include <kdl_parser/kdl_parser.hpp> 00041 #include <calibration_msgs/JointStateCalibrationPattern.h> 00042 00043 using namespace laser_joint_projector; 00044 using namespace std; 00045 00046 void featuresCallback(ros::Publisher* pub, 00047 LaserJointProjector* projector, 00048 const calibration_msgs::JointStateCalibrationPatternConstPtr& msg) 00049 { 00050 sensor_msgs::PointCloud cloud = projector->project(msg->joint_points, ros::Duration()); 00051 cloud.header.stamp = msg->header.stamp; 00052 cloud.header.frame_id = "torso_lift_link"; 00053 pub->publish(cloud); 00054 } 00055 00056 int main(int argc, char** argv) 00057 { 00058 ros::init(argc, argv, "projector"); 00059 ros::NodeHandle n; 00060 00061 KDL::Tree my_tree; 00062 std::string robot_desc_string; 00063 if (!n.getParam("robot_description", robot_desc_string)) 00064 ROS_FATAL("Couldn't get a robot_description from the param server"); 00065 00066 if (!kdl_parser::treeFromString(robot_desc_string, my_tree)) 00067 { 00068 ROS_ERROR("Failed to construct kdl tree"); 00069 return false; 00070 } 00071 00072 // KDL::Tree my_tree; 00073 // string filename= "/u/vpradeep/ros/pkgs/ros-pkg/stacks/robot_calibration/laser_joint_projector/pr2.urdf"; 00074 // if (!kdl_parser::treeFromFile(filename, my_tree)) 00075 // { 00076 // ROS_ERROR("Failed to construct kdl tree"); 00077 // return -1; 00078 // } 00079 00080 LaserJointProjector projector; 00081 projector.configure(my_tree, "torso_lift_link", "laser_tilt_link"); 00082 00083 // Output 00084 ros::Publisher pub = n.advertise<sensor_msgs::PointCloud>("checkerboard_points", 1); 00085 00086 // Input 00087 boost::function<void (const calibration_msgs::JointStateCalibrationPatternConstPtr&)> cb 00088 = boost::bind(&featuresCallback, &pub, &projector, _1); 00089 00090 ros::Subscriber sub = n.subscribe(std::string("joint_state_features"), 1, cb); 00091 00092 ros::spin(); 00093 00094 return 0; 00095 }