main.cpp

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#include <stdio.h>
#include <ros/ros.h>
#include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/segmentation/extract_polygonal_prism_data.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/project_inliers.h>
#include <sensor_msgs/JointState.h>
#include <pcl_conversions/pcl_conversions.h>

#define PFLN printf("file %s line %d\n",__FILE__,__LINE__);

#define _USE_DEBUG_ 0
//Global variables
ros::NodeHandle* p_n;
tf::TransformListener *p_listener;
double current_pan=0, current_tilt=0;
ros::Publisher pub;

void target_pose_cb(const sensor_msgs::PointCloud2ConstPtr & pcmsg_in)
{
        pcl::PointCloud<pcl::PointXYZ> pc_in;
        pcl::PointCloud<pcl::PointXYZ> pc_transformed;
        tf::StampedTransform transform;

        //p_listener->waitForTransform(pcmsg_in.header.frame_id, ros::names::remap("/tracking_frame"),ros::Time::now(), ros::Duration(0.2));
        try
        {
                p_listener->lookupTransform(pcmsg_in->header.frame_id, "/atc/ptu/tilt_block", ros::Time(0), transform);
        }
        catch (tf::TransformException ex)
        {
                ROS_ERROR("%s",ex.what());
                ROS_ERROR("Cannot find transform, returning");
        }

//      pcl::fromROSMsg(*pcmsg_in,pc_in);

    pcl::PCLPointCloud2 pcl_pc;
    pcl_conversions::toPCL(*pcmsg_in, pcl_pc);
    pcl::fromPCLPointCloud2(pcl_pc, pc_in);
    
        pcl_ros::transformPointCloud(pc_in,pc_transformed,transform.inverse());
        pc_transformed.header.frame_id = "/atc/ptu/tilt_block";

        double target_x = pc_transformed.points[0].x;
        double target_y = pc_transformed.points[0].y;
        double target_z = pc_transformed.points[0].z;

        double delta_pan = atan2(target_y,target_x);
        double delta_tilt = atan2(target_z, sqrt(target_x*target_x+target_y*target_y));

        double new_pan = current_pan + delta_pan;
        double new_tilt = current_tilt + delta_tilt;

        sensor_msgs::JointState joint_state;
        joint_state.header.stamp = ros::Time::now();
        joint_state.name.resize(2);
        joint_state.position.resize(2);

        joint_state.name[0] =ros::names::remap("pan");
        joint_state.position[0] = new_pan;

        joint_state.name[1] =ros::names::remap("tilt");
        joint_state.position[1] = new_tilt;

        pub.publish(joint_state);

}




        int main(int argc, char **argv)
        {

                ros::init(argc, argv, "foveation_control");
                ros::NodeHandle n("~");
                tf::TransformListener listener(n,ros::Duration(10));
                p_listener=&listener;
                p_n=&n;

                ros::Subscriber sub = n.subscribe("/target", 1, target_pose_cb);

                //declare the publisher
                pub = n.advertise<sensor_msgs::JointState>("/ptu_cmd", 1);

                ros::Rate loop_rate(10);
                ros::spin();

        }