pc_accumulation_nodelet.cpp

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

#include <pc_accumulation/pc_accumulation.h>
//GLOBAL VARIABLES
ros::Publisher cloud_pc_laserScan;
ros::Publisher cloud_pc_pointcloud;
pc_accumulation *p_lib;
double distance_from, timer_value;
std::string laser_topic,pc_topic,acc_frame;


bool process_laser_scan[5]={false,false,false,false,false};
bool process_point_cloud[5]={false,false,false,false,false};


void OdometryCallBack (const nav_msgs::OdometryConstPtr & odom_in)
{
       p_lib->odometry_=*odom_in;   
}

void pointcloud_Callback(const sensor_msgs::PointCloud2Ptr& image)
{
       p_lib->pointcloud_accumulated(*image,acc_frame);
}

void laserscan_Callback(const sensor_msgs::LaserScanPtr& scan_in)
{
       p_lib->pointcloud_accumulated(*scan_in,acc_frame);
}


void Remove_Publish(const ros::TimerEvent&)
{
        sensor_msgs::PointCloud2 msg; 
        p_lib->remove_points_from_pointcloud(p_lib->pcl_pc_acc,distance_from, acc_frame);
        pcl::toROSMsg(p_lib->pcl_pc_acc,msg);
        cloud_pc_pointcloud.publish(msg);
}


int main(int argc, char **argv)
{
        ros::init(argc, argv, "nodelet"); // Initialize ROS coms
        ros::NodeHandle n("~"); //The node handle
//           T=ros::Time::now();
        //Check topic remapping
        //Test the remapping of the /laserscan s
        for (int i=0; i<5; i++)
        {       
                char str[1024];
                sprintf(str,"/laserscan%d", i);
                if (ros::names::remap(str)!=str)
                {
                        process_laser_scan[i] = true;
                }
        }

        //Test the remapping of the /pointcloud s
        for (int i=0; i<5; i++)
        {       
                char str[1024];
                sprintf(str,"/pointcloud%d", i);
                if (ros::names::remap(str)!=str)
                {
                        process_point_cloud[i] = true;
                }
        }
        std::vector<ros::Subscriber> sub;
        //Creates ROS subscribers if the laserscan topics where remapped
        for (int i=0; i<5; i++)
        {
                if (process_laser_scan[i]==true)
                {
                        char str[1024];
                        sprintf(str,"/laserscan%d", i);
                        ros::Subscriber sub_ = n.subscribe (str, 1, laserscan_Callback);
                        ROS_INFO("Subscribing to %s", (ros::names::remap(str)).c_str());
                        sub.push_back(sub_);
                }
        }

        //Creates ROS subscribers if the pointcloud topics where remapped
        for (int i=0; i<5; i++)
        {
                if (process_point_cloud[i]==true)
                {
                        char str[1024];
                        sprintf(str,"/pointcloud%d", i);
                        ros::Subscriber sub_ = n.subscribe (str, 1, pointcloud_Callback);
                        ROS_INFO("Subscribing to %s", (ros::names::remap(str)).c_str());
                                ROS_INFO("REcebeu pointcloud");
                        sub.push_back(sub_);
                }
        }


        if (sub.size()==0)
        {
                ROS_ERROR("No /laserscan[0 4] or /pointcloud[0 4] where remapped. Aborting...");
                ros::shutdown();
        }


        //Check param remapping
        if (!n.hasParam("acc_frame")) //
        {
                ROS_ERROR("Didn't introduce a accumulation frame");
                return -1;
        }
        else
        {
                n.getParam("acc_frame",acc_frame);
        }


        //verify accumulation parameters 
        if (!n.hasParam("distance_from"))
                ROS_WARN("distance for accumulation 15 meters");
        else
                n.param("distance_from",distance_from, 15.0);

        if (!n.hasParam("timer_value"))
                ROS_WARN("Frequency of publication 2.0 sec");
        else
                n.param("timer_value",timer_value, 2.0);

        
        
              // Declaration class
              pc_accumulation lib;
             
              
        if (!n.hasParam("voxel_size"))
                 ROS_WARN("Voxel_size Default 0.4 meter");
        else
                 n.param("voxel_size",lib.voxel_size, 0.4);
        //remap string
        string removed_from;
        if (!n.hasParam("removed_from"))
        {
                    ROS_ERROR("Remove from frame not Defined");
                    return -1;
        }
        else
                    n.getParam("removed_from",removed_from);

        lib._acc_frame_id=removed_from;

        //Pointer to lib
        p_lib=&lib;
        
        //Remove&Publish accumulated pointcloud
        ros::Timer timer = n.createTimer(ros::Duration(timer_value), Remove_Publish);

        tf::TransformListener listener(n,ros::Duration(10));
        // Transform Listener
        lib.p_listener=&listener;
        //  Node Handle
        lib.p_n=&n;

        cloud_pc_pointcloud = n.advertise<sensor_msgs::PointCloud2>("/pc_out_pointcloud", 1);
        ros::Subscriber odom = n.subscribe ("odometry_topic", 1, OdometryCallBack);


        ros::Rate loop_rate(50);
        ros::spin();


        return 0;
}