87 lines
3.0 KiB
C++
Executable File
87 lines
3.0 KiB
C++
Executable File
#ifndef TANGENT_PLANNER_TANGENT_PLANNER_NODE_H
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#define TANGENT_PLANNER_TANGENT_PLANNER_NODE_H
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#include "tangent_planner.h"
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#include "memory.h"
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#include "nav_msgs/Odometry.h"
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#include "geometry_msgs/Pose2D.h"
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#include "ros/ros.h"
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#include "sensor_msgs/Range.h"
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#include "read.hpp"
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#include <tf/transform_datatypes.h>
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//#include "tangent_planner/nav_path_start.h"
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//#include "tangent_planner/nav_path_stop.h"
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//#include "tangent_planner/nav_get_patrol_name.h"
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//#include "tangent_planner/nav_get_status.h"
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//#include "tangent_planner/nav_low_bat.h"
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#include "thread"
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namespace Planner {
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class TangentPlannerNode : public TangentPlanner {
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public:
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TangentPlannerNode();
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~TangentPlannerNode();
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void set_publisher(const ros::Publisher &publisher);
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void odometry_subscriber_callback(const nav_msgs::Odometry &msg);
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void tof_subscriber_callback(const sensor_msgs::Range &msg);
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void twist_publisher_callback();
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// bool start_patrolling_callback(tangent_planner::nav_path_startRequest &req, tangent_planner::nav_path_startResponse &res);
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//
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// bool stop_patrolling_callback(tangent_planner::nav_path_stopRequest &req, tangent_planner::nav_path_stopResponse &res);
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//
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// bool get_patrol_path_name_callback(tangent_planner::nav_get_patrol_nameRequest &req,
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// tangent_planner::nav_get_patrol_nameResponse &res);
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//
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// bool get_current_status_callback(tangent_planner::nav_get_statusRequest &req, tangent_planner::nav_get_statusResponse &res);
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//
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// bool low_battery_callback(tangent_planner::nav_low_batRequest &req, tangent_planner::nav_low_batResponse &res);
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void computeVelocity();
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bool is_started();
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bool going_home = false;
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ros::ServiceServer start_patrolling;
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ros::ServiceServer stop_patrolling;
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ros::ServiceServer get_patrol_path_name;
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ros::ServiceServer get_current_status;
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ros::ServiceServer low_battery;
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std::string path_file_name;
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void start_thread();
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private:
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void read_path_file(const char* path){
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std::shared_ptr<DATA_FILE<float,10>> file = std::make_shared<DATA_FILE<float, 10>>(path);
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std::array<float,10> in={0.f};
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while(file->read(in)){
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tf::Quaternion q(in[4],in[5],in[6], in[3]);
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tf::Matrix3x3 m(q);
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double roll, pitch, yaw;
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m.getRPY(roll, pitch, yaw);
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std::shared_ptr<geometry_msgs::Pose2D> pose = std::make_shared<geometry_msgs::Pose2D>();
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pose->x = in[1];
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pose->y = in[0];
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pose->theta = yaw;
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global_plan_.insert(global_plan_.begin(), pose);
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}
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setGoal();
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file.reset();
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}
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void read_path_file(std::string path);
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ros::Publisher twist_publisher;
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bool started_ = false;
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// std::mutex mtx_;
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};
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}
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#endif //TANGENT_PLANNER_TANGENT_PLANNER_NODE_H
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