skin_demo_movebase: skin_demo_movebase.h Source File

00001 /*
00002  * Copyright (c) 2010, Bosch LLC
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 Bosch LLC 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 //\Author Sebastian Haug, Bosch LLC
00031 
00032 #ifndef SKINDEMOMOVEBASE_H_
00033 #define SKINDEMOMOVEBASE_H_
00034 
00035 #include <ros/ros.h>
00036 #include <std_msgs/String.h>
00037 #include <geometry_msgs/Twist.h>
00038 #include <tf/transform_listener.h>
00039 
00040 #include "skin_driver/skin_meas.h"
00041 
00042 #include <boost/circular_buffer.hpp>
00043 
00044 
00046 
00050 class SkinDemoMovebase {
00051 public:
00052         SkinDemoMovebase();
00053         virtual ~SkinDemoMovebase();
00054 
00055         void publishBaseCommand();
00056 
00057 private:
00058         // Private functions
00059         void skinNewMeasCallback(const boost::shared_ptr<skin_driver::skin_meas const>& msg);
00060         void loadParameterInt(ros::NodeHandle & nh_, std::string param, int & data);
00061         void loadParameterIntArray(ros::NodeHandle & nh_, std::string param, std::vector<int> & vec);
00062 
00063         // Private members
00064         ros::NodeHandle nh_;
00065         ros::NodeHandle nh_private_;
00066         ros::Subscriber sub_skin_data_;
00067         ros::Publisher pub_cmd_vel_;
00068 
00069         int num_sensors_;
00070         std::vector<int> patches_fw_;
00071         std::vector<int> patches_bw_;
00072         std::vector<int> patches_right_;
00073         std::vector<int> patches_left_;
00074         std::vector<int> patches_yawright_;
00075         std::vector<int> patches_yawleft_;
00076 
00077         struct sensor_data_struct {
00078                 uint8_t stat;
00079                 uint8_t x;
00080                 uint8_t ini;
00081                 uint8_t limit;
00082                 uint8_t u1;
00083                 uint8_t u2;
00084                 uint8_t u3;
00085                 uint8_t dyn;
00086         };
00087 
00088         boost::circular_buffer<geometry_msgs::Twist> buf_command_;
00089 };
00090 
00091 #endif /* SKINDEMOMOVEBASE_H_ */