object_releaser.cpp

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 * $Id: object_releaser.cpp 30719 2010-07-09 20:28:41Z pangercic $
 *
 */

// ROS core
#include <ros/ros.h>
#include <pcl/common/angles.h>

#include <tf/transform_listener.h>
#include <kinect_cleanup/GetReleasedObject.h>
#include <kinect_cleanup/ReleaseObject.h>

//for transformPointCloud
#include <pcl_ros/transforms.h>

//for connection to knowrob
#include <vision_msgs/cop_answer.h>

using namespace std;

class ObjectReleaser
{
protected:
  ros::NodeHandle nh_;
  
public:
  tf::TransformListener tf_;
  std::string world_, output_cloud_topic_, object_frame_, template_topic_;
  double tf_buffer_time_;
  bool got_object_;
  sensor_msgs::PointCloud2 output_cloud_;
  ros::Publisher pub_, template_publisher_;
  ros::ServiceClient client_get_released_object;
  ros::ServiceServer service;
  int object_id_;
  ObjectReleaser  (ros::NodeHandle &n) : nh_(n)
  {
    nh_.param("world", world_, std::string("openni_rgb_optical_frame"));
    nh_.param("object_frame", object_frame_, std::string("right_hand"));
    nh_.param("output_cloud_topic_", output_cloud_topic_, std::string("/moved_object"));
    nh_.param("tf_buffer_time", tf_buffer_time_, 0.05);
    //700000 needed by www.ros.org/wiki/cop
    nh_.param ("object_id", object_id_, 700000);
    nh_.param ("template_topic", template_topic_, std::string("object"));
    service = nh_.advertiseService("/release_object", &ObjectReleaser::calculate_transform, this);
    pub_ = nh_.advertise<sensor_msgs::PointCloud2>(output_cloud_topic_, 1);
    client_get_released_object = nh_.serviceClient<kinect_cleanup::GetReleasedObject>("/get_released_object");
    template_publisher_ = nh_.advertise<vision_msgs::cop_answer>(template_topic_, 1);
    got_object_ = false;
  }


  // get_object() - get object from object_grabber.cpp
  void get_object(sensor_msgs::PointCloud2 &cloud)
    {
      kinect_cleanup::GetReleasedObject srv_rel_obj;
      srv_rel_obj.request.object_released = true;
      if (client_get_released_object.call (srv_rel_obj))
      {
        cloud = srv_rel_obj.response.object;
        got_object_ = true;
        ROS_INFO ("Service call /get_released_object successful");
      }
      else
      {
        ROS_ERROR ("Failed to call service /get_released_object");
      }
    }
  

  // calculate_transform ()
  bool calculate_transform(kinect_cleanup::ReleaseObject::Request &req, 
                           kinect_cleanup::ReleaseObject::Response &res)
    {
      ros::Time time = ros::Time::now();
      bool found_transform = tf_.waitForTransform(world_, object_frame_,
                                                  time, ros::Duration(tf_buffer_time_));
      if (found_transform)
      {
        tf::StampedTransform transform;
        //TODO: check if this indeed makes sense
        tf_.lookupTransform(world_, object_frame_, time, transform);
        sensor_msgs::PointCloud2 input_cloud;
        get_object(input_cloud);
        pcl_ros::transformPointCloud(world_, transform, input_cloud, output_cloud_);
        //pub_.publish (output_cloud_);
      }
      res.error = "OK";
      return true; 
    }

  // ////////////////////////////////////////////////////////////////////////////////
  // // spin (!)
   void spin ()
    {
      ros::Rate loop_rate(20);
      while (ros::ok())
      {
        if (got_object_)
        {
          output_cloud_.header.stamp = ros::Time::now();
          pub_.publish (output_cloud_);
          ROS_INFO("[ObjectReleaser:] Point cloud published in frame %s", output_cloud_.header.frame_id.c_str());
          
          //publish cop_answer (www.ros.org/wiki/cop)
          vision_msgs::cop_answer msg;
          vision_msgs::cop_descriptor cop_descriptor;
          vision_msgs::aposteriori_position aposteriori_position;
          msg.found_poses.push_back(aposteriori_position);
          msg.found_poses[0].models.push_back(cop_descriptor);
          //TODO: only one needed probably, ask Moritz
          msg.found_poses[0].models[0].type = "ODUFinder";
          //    msg.found_poses[0].models[0].sem_class = "rahadayamchj";
          msg.found_poses[0].models[0].sem_class = "mopfte20pmi";
          msg.found_poses[0].models[0].object_id = ++object_id_;
          msg.found_poses[0].position = 0;
          template_publisher_.publish(msg);
        }
        ros::spinOnce();
        loop_rate.sleep();
      }
    }
};

int main (int argc, char** argv)
{
  ros::init (argc, argv, "object_releaser_node");
  ros::NodeHandle n("~");
  ObjectReleaser object_releaser(n);
  //ros::spin ();
  object_releaser.spin();
  return (0);
}

/* ]--- */