plane_model_road_segmentation_nodelet.cpp

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#ifndef _plane_model_road_segmentation_CPP_
#define _plane_model_road_segmentation_CPP_

#include <stdio.h>
#include <plane_model_road_segmentation/plane_model_road_segmentation.h>
#include <plane_model_road_segmentation/coefficients.h>
#include "plane_model_road_segmentation_head.h"

#define PFLN printf("FUNCTION=%s  LINE=%d\n",__FUNCTION__,__LINE__);

// Global declarations
tf::TransformListener *listener_center_bumper_ptr;
plane_model_road<pcl::PointXYZRGB> pms;
ros::Publisher pub_coeffs;

void topic_callback2(const sensor_msgs::PointCloud2ConstPtr& msg)
{
  static int counter=0; counter++;
  ROS_INFO("Message received number:%d",counter);
  
  // Pcl clouds
  pcl::PointCloud<pcl::PointXYZRGB> cloud_in;
  pcl::fromROSMsg(*msg,cloud_in);
  
  tf::Transform road_tf=pms.find_and_publish_road_frame(cloud_in);  
  
  plane_model_road_segmentation::coefficients coefficients;
  coefficients.A=pms.coef->values[0];
  coefficients.B=pms.coef->values[1];
  coefficients.C=pms.coef->values[2];
  coefficients.D=pms.coef->values[3];
  pub_coeffs.publish(coefficients);
}


int main(int argc, char **argv)
{
  ROS_INFO("Starting plane_model_road_segmentation nodelet...");
  ros::init(argc,argv,"plane_segmentation_nodelet");
  
  ros::NodeHandle n;
  
  // Messages subscription configuration    
  tf::TransformListener listener_center_bumper;   // atc/vehicle/center_bumper
  tf::TransformListener listener_atc_ground;      // atc/vehicle/ground
  listener_center_bumper_ptr=&listener_center_bumper;
  pms.listener_atc_ground_ptr=&listener_atc_ground;
  
  // Getting point cloud from launch file
  string pointcloud_subscribed;
  if (!n.hasParam("pointcloud_subscribed"))
  {
    ROS_ERROR("Must set properly a input pointcloud  (pointcloud_subscribed).");
    return -1;
  }
  else
  n.getParam("pointcloud_subscribed", pointcloud_subscribed);
  ros::Subscriber sub = n.subscribe(pointcloud_subscribed, 1, topic_callback2);
   
  // Publish a frame
  tf::TransformBroadcaster br;   // Road frame 
  pms.broadcast_ptr=&br;
  
  // Publish model coefficients
    string coefficients_topic_name;
  if (!n.hasParam("coefficients_topic_name"))
  {
    ROS_ERROR("Must set properly a coefficients_topic_name  (coefficients_topic_name).");
    return -1;
  }
  else
  n.getParam("coefficients_topic_name", coefficients_topic_name);
  pub_coeffs=n.advertise<plane_model_road_segmentation::coefficients>(coefficients_topic_name,1);
  
  
  if (!n.hasParam("road_frame"))
    ROS_INFO("publishing frame as /environment/road_frame");
  else
  n.getParam("road_frame",pms.pub_frame_name);
  
  if (!n.hasParam("reference_ground_frame"))
    ROS_WARN("You didn't set properly your ground reference frame. /atc/vehicle/ground is being used.");
  else
  n.getParam("reference_ground_frame",pms.reference_ground_frame);
  
  ros::spin();
  
  return 1;
}
#endif