00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _people_follower_client_alg_node_h_ 00026 #define _people_follower_client_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "people_follower_client_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <geometry_msgs/PoseStamped.h> 00033 #include <iri_people_tracking/peopleTrackingArray.h> 00034 00035 // [service client headers] 00036 00037 // [action server client headers] 00038 #include <actionlib/client/simple_action_client.h> 00039 #include <actionlib/client/terminal_state.h> 00040 #include <iri_nav_msgs/followTargetAction.h> 00041 00046 class PeopleFollowerClientAlgNode : public algorithm_base::IriBaseAlgorithm<PeopleFollowerClientAlgorithm> 00047 { 00048 private: 00049 // [publisher attributes] 00050 ros::Publisher target_pos_publisher_; 00051 geometry_msgs::PoseStamped PoseStamped_msg_; 00052 00053 // [subscriber attributes] 00054 ros::Subscriber people_tracker_subscriber_; 00055 void people_tracker_callback(const iri_people_tracking::peopleTrackingArray::ConstPtr& msg); 00056 CMutex people_tracker_mutex_; 00057 00058 // [service attributes] 00059 00060 // [client attributes] 00061 00062 // [action server attributes] 00063 00064 // [action client attributes] 00065 actionlib::SimpleActionClient<iri_nav_msgs::followTargetAction> follow_client_; 00066 iri_nav_msgs::followTargetGoal follow_goal_; 00067 void followMakeActionRequest(); 00068 void followDone(const actionlib::SimpleClientGoalState& state, const iri_nav_msgs::followTargetResultConstPtr& result); 00069 void followActive(); 00070 void followFeedback(const iri_nav_msgs::followTargetFeedbackConstPtr& feedback); 00071 00072 bool action_active_; 00073 int target_id_; 00074 public: 00081 PeopleFollowerClientAlgNode(void); 00082 00089 ~PeopleFollowerClientAlgNode(void); 00090 00091 protected: 00104 void mainNodeThread(void); 00105 00118 void node_config_update(Config &config, uint32_t level); 00119 00126 void addNodeDiagnostics(void); 00127 00128 // [diagnostic functions] 00129 00130 // [test functions] 00131 }; 00132 00133 #endif