cleanup ros-pkg

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1269 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-04 08:47:45 +08:00 · 2014-03-03 21:43:20 +00:00
parent 7d58681f34
commit 1764c88f05
136 changed files with 0 additions and 0 deletions
@@ -0,0 +1,109 @@
+/*
+ * GuiWrapper.h
+ *
+ *  Created on: 4 févr. 2010
+ *      Author: labm2414
+ */
+
+#ifndef GUIWRAPPER_H_
+#define GUIWRAPPER_H_
+
+#include <ros/ros.h>
+#include "rtabmap/InfoEx.h"
+#include "rtabmap/MapData.h"
+#include "rtabmap/utilite/UEventsHandler.h"
+
+#include <tf/transform_listener.h>
+
+#include <geometry_msgs/TwistStamped.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/CameraInfo.h>
+#include <sensor_msgs/LaserScan.h>
+#include <nav_msgs/Odometry.h>
+
+#include <message_filters/subscriber.h>
+#include <message_filters/synchronizer.h>
+#include <message_filters/sync_policies/approximate_time.h>
+
+#include <image_transport/image_transport.h>
+#include <image_transport/subscriber_filter.h>
+
+namespace rtabmap
+{
+	class MainWindow;
+}
+
+class QApplication;
+
+class GuiWrapper : public UEventsHandler
+{
+public:
+	GuiWrapper(int & argc, char** argv);
+	virtual ~GuiWrapper();
+
+	int exec();
+
+protected:
+	virtual void handleEvent(UEvent * anEvent);
+
+private:
+	void infoExReceivedCallback(const rtabmap::InfoExConstPtr & msg);
+	void mapDataReceivedCallback(const rtabmap::MapDataConstPtr & msg);
+
+	void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, int queueSize);
+	void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg); // odom
+	void depthCallback(const sensor_msgs::ImageConstPtr& imageMsg,
+					   const nav_msgs::OdometryConstPtr & odomMsg,
+					   const sensor_msgs::ImageConstPtr& imageDepthMsg,
+					   const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
+	void scanCallback(const sensor_msgs::ImageConstPtr& imageMsg,
+					  const nav_msgs::OdometryConstPtr & odomMsg,
+					  const sensor_msgs::LaserScanConstPtr& scanMsg);
+	void depthScanCallback(const sensor_msgs::ImageConstPtr& imageMsg,
+						   const nav_msgs::OdometryConstPtr & odomMsg,
+						   const sensor_msgs::ImageConstPtr& imageDepthMsg,
+						   const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
+						   const sensor_msgs::LaserScanConstPtr& scanMsg);
+
+private:
+	ros::Subscriber infoExTopic_;
+	ros::Subscriber mapDataTopic_;
+	QApplication * app_;
+	rtabmap::MainWindow * mainWindow_;
+	std::string cameraNodeName_;
+
+	// odometry subscription stuffs
+	std::string frameId_;
+	tf::TransformListener tfListener_;
+
+	ros::Subscriber defaultSub_; // odometry only
+	image_transport::SubscriberFilter imageSub_;
+	image_transport::SubscriberFilter imageDepthSub_;
+	message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
+	message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
+	message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
+
+	typedef message_filters::sync_policies::ApproximateTime<
+			sensor_msgs::Image,
+			nav_msgs::Odometry,
+			sensor_msgs::Image,
+			sensor_msgs::CameraInfo,
+			sensor_msgs::LaserScan> MyDepthScanSyncPolicy;
+	message_filters::Synchronizer<MyDepthScanSyncPolicy> * depthScanSync_;
+
+	typedef message_filters::sync_policies::ApproximateTime<
+			sensor_msgs::Image,
+			nav_msgs::Odometry,
+			sensor_msgs::Image,
+			sensor_msgs::CameraInfo> MyDepthSyncPolicy;
+	message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
+
+	typedef message_filters::sync_policies::ApproximateTime<
+			sensor_msgs::Image,
+			nav_msgs::Odometry,
+			sensor_msgs::LaserScan> MyScanSyncPolicy;
+	message_filters::Synchronizer<MyScanSyncPolicy> * scanSync_;
+};
+
+#endif /* GUIWRAPPER_H_ */