conversion.cpp

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#include <unistd.h>

#include <iostream>
#include <string>
#include <vector>
#include <map>
#include <fstream>

#include <ros/ros.h>

#include <laser_geometry/laser_geometry.h>
#include <tf/transform_listener.h>

#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <sensor_msgs/LaserScan.h>

#include <atlascar_base/AtlascarStatus.h>
#include <atlascar_base/AtlascarPartialStatus.h>
#include <atlascar_base/AtlascarVelocityStatus.h>

#include <pcl_ros/transforms.h>
#include <pcl/ros/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>

using namespace std;
using namespace ros;

class Conversion
{
        public:
                
                Conversion():
                n_("~"),
                listener_(n_,ros::Duration(10))
                {
                        laser_1_report_name_ = ros::names::remap("laser_1_report");
                        laser_2_report_name_ = ros::names::remap("laser_2_report");
                        laser_3_report_name_ = ros::names::remap("laser_3_report");
                        
                        atlascar_status_report_name_ = ros::names::remap("atlascar_status_report");
                        atlascar_velocity_status_report_name_ = ros::names::remap("atlascar_velocity_status_report");
                        
                        remove(laser_1_report_name_.c_str());
                        remove(laser_2_report_name_.c_str());
                        remove(laser_3_report_name_.c_str());
                        
                        remove(atlascar_status_report_name_.c_str());
                        remove(atlascar_velocity_status_report_name_.c_str());
                        
                        laser_1_handler_ = n_.subscribe<sensor_msgs::LaserScan> ("laser_1",1000,boost::bind(&Conversion::laserHandler,this,_1,laser_1_report_name_));
                        laser_2_handler_ = n_.subscribe<sensor_msgs::LaserScan> ("laser_2",1000,boost::bind(&Conversion::laserHandler,this,_1,laser_2_report_name_));
                        laser_3_handler_ = n_.subscribe<sensor_msgs::LaserScan> ("laser_3",1000,boost::bind(&Conversion::laserHandler,this,_1,laser_3_report_name_));
                        
                        atlascar_status_handler_ = n_.subscribe("atlascar_status", 1000, &Conversion::atlascarStatusHandler,this);
                        atlascar_velocity_status_handler_ = n_.subscribe("atlascar_velocity_status", 1000, &Conversion::atlascarVelocityStatusHandler,this);
                }
                
                ~Conversion()
                {
                        
                }
                
                void laserHandler(const sensor_msgs::LaserScan::ConstPtr& scan_in,string report_name)
                {
                        sensor_msgs::PointCloud2 cloud;
                        
                        listener_.waitForTransform(ros::names::remap("base_link"), scan_in->header.frame_id, ros::Time::now(), ros::Duration(10.0));
                        
                        try
                        {
                                projector_.transformLaserScanToPointCloud(ros::names::remap("base_link"),*scan_in,cloud,listener_);
                        }
                        catch (tf::TransformException ex)
                        {
                                cout<<"Error!! "<<ex.what()<<endl;
                                return;
                        }
                        
                        pcl::PointCloud<pcl::PointXYZ> data;
                        pcl::fromROSMsg(cloud,data);
        
                        ofstream report_laser;
                        report_laser.open(report_name.c_str(),ios::app);
                        
                        boost::format fm("%.4f");
                        fm % scan_in->header.stamp.toSec();
        
                        report_laser<<scan_in->header.seq<<" "<<fm.str()<<" "<<ros::names::remap("base_link");
                        
                        for(pcl::PointCloud<pcl::PointXYZ>::iterator it = data.begin();it!=data.end();it++)
                                report_laser<<" "<<it->x<<" "<<it->y<<" "<<it->z;
                        
                        report_laser<<endl;
        
                        report_laser.close();
                }

                void atlascarStatusHandler(const atlascar_base::AtlascarStatusPtr& status)
                {
                        ofstream report_status;
                        report_status.open(atlascar_status_report_name_.c_str(),ios::app);
                        
                        boost::format fm_stamp("%.4f");
                        fm_stamp % status->header.stamp.toSec();
        
                        report_status<<status->header.seq<<" "<<fm_stamp.str()<<" ";
                        
                        boost::format fm_data("%.6f %.6f %.6f %.6f %.6f %.6f");
                        fm_data % status->throttle % status->brake % status->clutch % status->steering_wheel % status->speed % status->rpm;
                        
                        report_status<<fm_data.str()<<endl;
                }


                void atlascarVelocityStatusHandler(const atlascar_base::AtlascarVelocityStatusPtr& status)
                {
                        ofstream report_status;
                        report_status.open(atlascar_velocity_status_report_name_.c_str(),ios::app);
                        
                        boost::format fm_stamp("%.4f");
                        fm_stamp % status->header.stamp.toSec();
        
                        report_status<<status->header.seq<<" "<<fm_stamp.str()<<" ";
                        
                        boost::format fm_data("%.1f %.6f %.6f %.6f");
                        fm_data % status->counting % status->pulses_sec % status->revolutions_sec % status->velocity;
                        
                        report_status<<fm_data.str()<<endl;
                        
                }
                
                string laser_1_report_name_;
                string laser_2_report_name_;
                string laser_3_report_name_;
                string atlascar_status_report_name_;
                string atlascar_velocity_status_report_name_;
                
                ros::Subscriber laser_1_handler_; 
                ros::Subscriber laser_2_handler_;
                ros::Subscriber laser_3_handler_;

                ros::Subscriber atlascar_status_handler_;
                ros::Subscriber atlascar_velocity_status_handler_;
                
                ros::NodeHandle n_;
                tf::TransformListener listener_;
                laser_geometry::LaserProjection projector_;
};

int main(int argc,char**argv)
{
        ros::init(argc, argv, "conversion");
                        
        Conversion convert;
        
        cout<<"spining ..."<<endl;
        ros::spin();
        
        return 0;
}