00001 /* 00002 * Copyright (c) 2010, 2011, Ivan Dryanovski, William Morris 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the CCNY Robotics Lab nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_H 00031 #define LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_H 00032 00033 00034 #include <limits> 00035 #include <ros/ros.h> 00036 #include <geometry_msgs/Point32.h> 00037 #include <sensor_msgs/LaserScan.h> 00038 #include <sensor_msgs/Imu.h> 00039 #include <sensor_msgs/PointCloud2.h> 00040 #include <tf/transform_listener.h> 00041 #include <tf/transform_broadcaster.h> 00042 #include <tf/message_filter.h> 00043 #include <message_filters/subscriber.h> 00044 #include <pcl/io/pcd_io.h> 00045 #include <pcl/point_types.h> 00046 #include <pcl/point_cloud.h> 00047 #include <pcl_ros/point_cloud.h> 00048 00049 namespace scan_tools { 00050 00051 static const std::string scan_topic_ = "scan"; 00052 static const std::string imu_topic_ = "imu"; 00053 static const std::string cloud_topic_ = "cloud_ortho"; 00054 00055 class LaserOrthoProjector 00056 { 00057 typedef pcl::PointXYZ PointT; 00058 typedef pcl::PointCloud<PointT> PointCloudT; 00059 00060 private: 00061 00062 // **** ROS-related 00063 ros::NodeHandle nh_; 00064 ros::NodeHandle nh_private_; 00065 00066 ros::Publisher cloud_publisher_; 00067 ros::Subscriber scan_subscriber_; 00068 ros::Subscriber imu_subscriber_; 00069 00070 tf::TransformListener tf_listener_; 00071 tf::TransformBroadcaster tf_broadcaster_; 00072 00073 // **** paramaters 00074 00075 std::string world_frame_; 00076 std::string base_frame_; 00077 std::string ortho_frame_; 00078 bool publish_tf_; 00079 bool use_imu_; 00080 00081 // **** state variables 00082 00083 bool initialized_; 00084 00085 std::vector<double> a_sin_; 00086 std::vector<double> a_cos_; 00087 00088 sensor_msgs::Imu latest_imu_msg_; 00089 00090 PointT nan_point_; 00091 00092 btTransform base_to_laser_; // static, cached 00093 00094 void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_msg); 00095 void imuCallback (const sensor_msgs::Imu::ConstPtr& imu_msg); 00096 bool getBaseToLaserTf (const sensor_msgs::LaserScan::ConstPtr& scan_msg); 00097 void createCache (const sensor_msgs::LaserScan::ConstPtr& scan_msg); 00098 00099 public: 00100 00101 LaserOrthoProjector (ros::NodeHandle nh, ros::NodeHandle nh_private); 00102 virtual ~ LaserOrthoProjector (); 00103 }; 00104 00105 } // namespace scan_tools 00106 00107 #endif // LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_H