odom_subscriber.h

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#ifndef NAV_2D_UTILS_ODOM_SUBSCRIBER_H
#define NAV_2D_UTILS_ODOM_SUBSCRIBER_H
 
#include <ros/ros.h>
#include <nav_2d_utils/conversions.h>
#include <nav_msgs/Odometry.h>
#include <nav_2d_msgs/Twist2DStamped.h>
#include <string>
 
namespace nav_2d_utils
{
 
class OdomSubscriber
{
public:
  explicit OdomSubscriber(ros::NodeHandle& nh, std::string default_topic = "odom")
  {
    std::string odom_topic;
    nh.param("odom_topic", odom_topic, default_topic);
    odom_sub_ = nh.subscribe<nav_msgs::Odometry>(odom_topic, 1,
                                                 std::bind(&OdomSubscriber::odomCallback, this,
                                                           std::placeholders::_1));
  }
 
  inline nav_2d_msgs::Twist2D getTwist() { return odom_vel_.velocity; }
  inline nav_2d_msgs::Twist2DStamped getTwistStamped() { return odom_vel_; }
 
protected:
  void odomCallback(const nav_msgs::Odometry::ConstPtr& msg)
  {
    ROS_INFO_ONCE("odom received!");
    boost::mutex::scoped_lock lock(odom_mutex_);
    odom_vel_.header = msg->header;
    odom_vel_.velocity = twist3Dto2D(msg->twist.twist);
  }
 
  ros::Subscriber odom_sub_;
  nav_2d_msgs::Twist2DStamped odom_vel_;
  boost::mutex odom_mutex_;
};
 
}  // namespace nav_2d_utils
 
#endif  // NAV_2D_UTILS_ODOM_SUBSCRIBER_H