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 _zyonz_find_leaf_probing_points_alg_node_h_ 00026 #define _zyonz_find_leaf_probing_points_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "zyonz_find_leaf_probing_points_alg.h" 00030 00031 #include <tf/transform_broadcaster.h> 00032 #include <tf/tfMessage.h> 00033 00034 #include <pcl_ros/point_cloud.h> 00035 #include <pcl_ros/transforms.h> 00036 #include <pcl/point_types.h> 00037 #include <pcl/filters/passthrough.h> 00038 #include <pcl/filters/extract_indices.h> 00039 #include <pcl/filters/project_inliers.h> 00040 #include <pcl/filters/voxel_grid.h> 00041 #include <pcl/surface/convex_hull.h> 00042 #include <pcl/surface/concave_hull.h> 00043 #include <pcl/sample_consensus/method_types.h> 00044 #include <pcl/segmentation/sac_segmentation.h> 00045 #include <pcl/features/boundary.h> 00046 #include <pcl/features/normal_3d.h> 00047 #include <pcl/kdtree/kdtree.h> 00048 #include <pcl/kdtree/kdtree_flann.h> 00049 00050 // [publisher subscriber headers] 00051 #include <geometry_msgs/PoseArray.h> 00052 #include <visualization_msgs/Marker.h> 00053 #include <sensor_msgs/PointCloud2.h> 00054 00055 // [service client headers] 00056 #include <zyonz_msgs/GetPoseArray.h> 00057 #include <std_srvs/Empty.h> 00058 00059 // [action server client headers] 00060 00065 class ZyonzFindLeafProbingPointsAlgNode : public algorithm_base::IriBaseAlgorithm<ZyonzFindLeafProbingPointsAlgorithm> 00066 { 00067 private: 00068 00069 bool data_processed_; 00070 geometry_msgs::PoseArray pose_array_; 00071 00072 // [publisher attributes] 00073 ros::Publisher poses_publisher_; 00074 geometry_msgs::PoseArray PoseArray_msg_; 00075 ros::Publisher output_marker_publisher_; 00076 visualization_msgs::Marker Marker_msg_; 00077 ros::Publisher output_pointcloud_publisher_; 00078 sensor_msgs::PointCloud2 PointCloud2_msg_; 00079 00080 // [subscriber attributes] 00081 ros::Subscriber input_subscriber_; 00082 void input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg); 00083 CMutex input_mutex_; 00084 00085 // [service attributes] 00086 ros::ServiceServer get_pose_array_server_; 00087 bool get_pose_arrayCallback(zyonz_msgs::GetPoseArray::Request &req, zyonz_msgs::GetPoseArray::Response &res); 00088 CMutex get_pose_array_mutex_; 00089 00090 // [client attributes] 00091 00092 // [action server attributes] 00093 00094 // [action client attributes] 00095 00096 public: 00103 ZyonzFindLeafProbingPointsAlgNode(void); 00104 00111 ~ZyonzFindLeafProbingPointsAlgNode(void); 00112 00113 protected: 00126 void mainNodeThread(void); 00127 00140 void node_config_update(Config &config, uint32_t level); 00141 00148 void addNodeDiagnostics(void); 00149 00150 // [diagnostic functions] 00151 00152 // [test functions] 00153 }; 00154 00155 #endif