CGraphSlamEngine_ROS_impl.h

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/* +---------------------------------------------------------------------------+
         |                     Mobile Robot Programming Toolkit (MRPT)               |
         |                          http://www.mrpt.org/                             |
         |                                                                           |
         | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file        |
         | See: http://www.mrpt.org/Authors - All rights reserved.                   |
         | Released under BSD License. See details in http://www.mrpt.org/License    |
         +---------------------------------------------------------------------------+ */
 
#pragma once
namespace mrpt { namespace graphslam {
 
template<class GRAPH_t>
CGraphSlamEngine_ROS<GRAPH_t>::CGraphSlamEngine_ROS(
                ros::NodeHandle* nh,
                const std::string& config_file,
                const std::string& rawlog_fname/* ="" */,
                const std::string& fname_GT /* ="" */,
                mrpt::graphslam::CWindowManager* win_manager /* = NULL */,
                mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_t>* node_reg /* = NULL */,
                mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_t>* edge_reg /* = NULL */,
                mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t>* optimizer /* = NULL */):
        parent::CGraphSlamEngine(
                        config_file,
                        rawlog_fname,
                        fname_GT,
                        win_manager,
                        node_reg,
                        edge_reg,
                        optimizer),
        m_nh(nh)
{
        this->initClass();
}
 
template<class GRAPH_t>
CGraphSlamEngine_ROS<GRAPH_t>::~CGraphSlamEngine_ROS() {
        MRPT_LOG_DEBUG_STREAM("In Destructor: Deleting CGraphSlamEngine_ROS instance...");
        ros::shutdown();
}
 
template<class GRAPH_t>
void CGraphSlamEngine_ROS<GRAPH_t>::initClass() {
        using namespace mrpt::graphslam;
        this->m_class_name = "CGraphSlamEngine_ROS";
        this->setLoggerName(this->m_class_name);
 
        // http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers#queue_size:_publish.28.29_behavior_and_queuing
        m_queue_size = 10;
 
        this->setupComm();
 
        // in case of ROS specific deciders/optimizers (they inherit from the CDeciderOrOptimizer_ROS interface)
        // set the NodeHandle
        {
                CRegistrationDeciderOrOptimizer_ROS<GRAPH_t>* dec_opt_ros =
                        dynamic_cast<CRegistrationDeciderOrOptimizer_ROS<GRAPH_t>*>(this->m_node_reg);
 
                if (dec_opt_ros) {
                        dec_opt_ros->setNodeHandle(m_nh);
                }
        }
        {
                CRegistrationDeciderOrOptimizer_ROS<GRAPH_t>* dec_opt_ros =
                        dynamic_cast<CRegistrationDeciderOrOptimizer_ROS<GRAPH_t>*>(this->m_edge_reg);
                if (dec_opt_ros) {
                        dec_opt_ros->setNodeHandle(m_nh);
                }
        }
        {
                CRegistrationDeciderOrOptimizer_ROS<GRAPH_t>* dec_opt_ros =
                        dynamic_cast<CRegistrationDeciderOrOptimizer_ROS<GRAPH_t>*>(this->m_optimizer);
                if (dec_opt_ros) {
                        dec_opt_ros->setNodeHandle(m_nh);
                }
        }
 
        this->readParams();
}
 
template<class GRAPH_t>
void CGraphSlamEngine_ROS<GRAPH_t>::readParams() {
 
        this->readROSParameters();
}
 
template<class GRAPH_t>
void CGraphSlamEngine_ROS<GRAPH_t>::readROSParameters() { }
 
template<class GRAPH_t>
bool CGraphSlamEngine_ROS<GRAPH_t>::_execGraphSlamStep(
                mrpt::obs::CActionCollection::Ptr& action,
                mrpt::obs::CSensoryFrame::Ptr& observations,
                mrpt::obs::CObservation::Ptr& observation,
                size_t& rawlog_entry) {
 
        bool continue_exec = parent::_execGraphSlamStep(
                        action, observations, observation, rawlog_entry);
        this->usePublishersBroadcasters();
 
        return continue_exec;
}
 
template<class GRAPH_t>
void CGraphSlamEngine_ROS<GRAPH_t>::usePublishersBroadcasters() { }
 
template<class GRAPH_t>
void CGraphSlamEngine_ROS<GRAPH_t>::setupComm() {
        MRPT_LOG_INFO_STREAM(
                "Setting up subscribers, publishers, services...");
 
        // setup subscribers, publishers, services...
        this->setupSubs();
        this->setupPubs();
        this->setupSrvs();
 
}
 
template<class GRAPH_t>
void CGraphSlamEngine_ROS<GRAPH_t>::setupSubs() {
        MRPT_LOG_DEBUG_STREAM("Setting up subscribers...");
 
}
 
template<class GRAPH_t>
void CGraphSlamEngine_ROS<GRAPH_t>::setupPubs() {
        MRPT_LOG_DEBUG_STREAM("Setting up publishers...");
 
}
 
template<class GRAPH_t>
void CGraphSlamEngine_ROS<GRAPH_t>::setupSrvs() {
        MRPT_LOG_DEBUG_STREAM("Setting up services...");
 
}
 
 
} } // end of namespaces