void TopicGUI::initPlugin(qt_gui_cpp::PluginContext& ctx)
{
m_w = new DotWidget;
ctx.addWidget(m_w);
qRegisterMetaType<nimbro_topic_transport::SenderStatsConstPtr>();
qRegisterMetaType<nimbro_topic_transport::ReceiverStatsConstPtr>();
connect(
this, SIGNAL(senderStatsReceived(nimbro_topic_transport::SenderStatsConstPtr)),
this, SLOT(handleSenderStats(nimbro_topic_transport::SenderStatsConstPtr)),
Qt::QueuedConnection
);
m_sub_senderStats = getPrivateNodeHandle().subscribe(
"/network/sender_stats", 1, &TopicGUI::senderStatsReceived, this
);
connect(
this, SIGNAL(receiverStatsReceived(nimbro_topic_transport::ReceiverStatsConstPtr)),
this, SLOT(handleReceiverStats(nimbro_topic_transport::ReceiverStatsConstPtr)),
Qt::QueuedConnection
);
m_sub_receiverStats = getPrivateNodeHandle().subscribe(
"/network/receiver_stats", 1, &TopicGUI::receiverStatsReceived, this
);
QTimer* updateTimer = new QTimer(this);
connect(updateTimer, SIGNAL(timeout()), SLOT(update()));
updateTimer->start(2000);
}
void onInit()
{
ros::NodeHandle& pn = this->getPrivateNodeHandle();
//int img_width = 640;
//int img_height = 480;
pn.param("camera_name", p_camera_name_, std::string("ps_eye"));
// pn.param("camera_topic", p_camera_topic_, p_camera_name_ + "/image_raw");
pn.param("frame_name", p_frame_name_, std::string("ps_eye_frame"));
pn.param("dev", p_device_name_, std::string("/dev/video0"));
pn.param("left_camera_info_url", p_left_camera_info_url_, std::string(""));
pn.param("right_camera_info_url", p_right_camera_info_url_, std::string(""));
pn.param("use_every_n_th_image", p_use_every_n_th_image_, 1);
pn.param("fps", p_fps_, 30);
//pn.param("width", img_width, 640);
//pn.param("height", img_height, 480);
left_camera_info_manager_.reset(new camera_info_manager::CameraInfoManager(ros::NodeHandle("~/left"), p_camera_name_+"/left", p_left_camera_info_url_));
right_camera_info_manager_.reset(new camera_info_manager::CameraInfoManager(ros::NodeHandle("~/right"), p_camera_name_+"/right", p_right_camera_info_url_));
image_transport_ = new image_transport::ImageTransport(getPrivateNodeHandle());
raw_debug_publisher_ = image_transport_->advertise("image_raw_debug", 5);
left_mono_publisher_ = image_transport_->advertise("left/image_mono", 5);
right_mono_publisher_ = image_transport_->advertise("right/image_mono", 5);
left_color_publisher_ = image_transport_->advertise("left/image_raw", 5);
right_color_publisher_ = image_transport_->advertise("right/image_raw", 5);
left_camera_info_publisher_ = getPrivateNodeHandle().advertise<sensor_msgs::CameraInfo>("left/camera_info",5, false);
right_camera_info_publisher_ = getPrivateNodeHandle().advertise<sensor_msgs::CameraInfo>("right/camera_info",5, false);
this->setupModes();
current_mode_ = 1;
this->setupResolution(camera_modes_[current_mode_].img_width,
camera_modes_[current_mode_].img_height,
camera_modes_[current_mode_].raw_width,
camera_modes_[current_mode_].raw_height
);
camera_.reset(new Camera(p_device_name_.c_str(),
camera_modes_[current_mode_].raw_width,
camera_modes_[current_mode_].raw_height,
p_fps_));
stream_thread_.reset(new boost::thread(boost::bind(&StereoCameraNodelet::run, this)));
//update_timer_ = pn.createTimer(ros::Duration(1.0/(static_cast<double>(p_fps_))), &StereoCameraNodelet::timerPublishImageCallback, this, false );
//cv::Mat* img = &cvImg.image;
}
void ImageNodelet::onInit()
{
ros::NodeHandle nh = getNodeHandle();
ros::NodeHandle local_nh = getPrivateNodeHandle();
// Command line argument parsing
const std::vector<std::string>& argv = getMyArgv();
// First positional argument is the transport type
std::string transport;
local_nh.param("image_transport", transport, std::string("raw"));
for (int i = 0; i < (int)argv.size(); ++i)
{
if (argv[i][0] != '-')
{
transport = argv[i];
break;
}
}
NODELET_INFO_STREAM("Using transport \"" << transport << "\"");
// Internal option, should be used only by the image_view node
bool shutdown_on_close = std::find(argv.begin(), argv.end(),
"--shutdown-on-close") != argv.end();
// Default window name is the resolved topic name
std::string topic = nh.resolveName("image");
local_nh.param("window_name", window_name_, topic);
bool autosize;
local_nh.param("autosize", autosize, false);
std::string format_string;
local_nh.param("filename_format", format_string, std::string("frame%04i.jpg"));
filename_format_.parse(format_string);
cv::namedWindow(window_name_, autosize ? cv::WND_PROP_AUTOSIZE : 0);
cv::setMouseCallback(window_name_, &ImageNodelet::mouseCb, this);
#ifdef HAVE_GTK
// Register appropriate handler for when user closes the display window
GtkWidget *widget = GTK_WIDGET( cvGetWindowHandle(window_name_.c_str()) );
if (shutdown_on_close)
g_signal_connect(widget, "destroy", G_CALLBACK(destroyNode), NULL);
else
g_signal_connect(widget, "destroy", G_CALLBACK(destroyNodelet), &sub_);
#endif
// Start the OpenCV window thread so we don't have to waitKey() somewhere
startWindowThread();
image_transport::ImageTransport it(nh);
image_transport::TransportHints hints(transport, ros::TransportHints(), getPrivateNodeHandle());
sub_ = it.subscribe(topic, 1, &ImageNodelet::imageCb, this, hints);
}
/**
* @brief Start capture/publish thread.
*/
virtual void onInit()
{
driver_.reset(new Driver(getPrivateNodeHandle(),
getPrivateNodeHandle()));
try {
driver_->setup();
is_running_ = true;
thread_ = boost::shared_ptr<boost::thread>
(new boost::thread(boost::bind(&CvCameraNodelet::main, this)));
} catch(cv_camera::DeviceError& e) {
NODELET_ERROR_STREAM("failed to open device... do nothing: " << e.what());
}
}
virtual void onInit() {
std::string port; ROS_ASSERT_MSG(getPrivateNodeHandle().getParam("port", port),
"\"port\" param missing");
int baudrate = 115200; getPrivateNodeHandle().getParam("baudrate", baudrate);
ROS_ASSERT_MSG(getPrivateNodeHandle().getParam("frame_id", frame_id),
"\"frame_id\" param missing");
pub = getNodeHandle().advertise<uf_common::Float64Stamped>("depth", 10);
device = boost::make_shared<Device>(port, baudrate);
heartbeat_timer = getNodeHandle().createTimer(ros::Duration(0.5), boost::bind(&Nodelet::heartbeat_callback, this, _1));
running = true;
polling_thread_inst = boost::thread(boost::bind(&Nodelet::polling_thread, this));
}
virtual void onInit() {
std::string port = uf_common::getParam<std::string>(getPrivateNodeHandle(), "port");
frame_id = uf_common::getParam<std::string>(getPrivateNodeHandle(), "frame_id");
drop_every_ = uf_common::getParam<unsigned int>(getPrivateNodeHandle(), "divide", 1);
ros::NodeHandle& nh = getNodeHandle();
pub = nh.advertise<sensor_msgs::Imu>("imu/data_raw", 10);
mag_pub = nh.advertise<sensor_msgs::MagneticField>("imu/mag_raw", 10);
count = 0;
running = true;
device = boost::make_shared<Device>(port);
polling_thread_inst = boost::thread(boost::bind(&Nodelet::polling_thread, this));
}
virtual void onInit() {
std::string port = uf_common::getParam<std::string>(
getPrivateNodeHandle(), "port");
int baudrate = uf_common::getParam<int>(
getPrivateNodeHandle(), "baudrate", 115200);
std::string frame_id = uf_common::getParam<std::string>(
getPrivateNodeHandle(), "frame_id");
pub = getNodeHandle().advertise<uf_common::Float64Stamped>("depth", 10);
device = boost::make_shared<Device>(port, baudrate);
heartbeat_timer = getNodeHandle().createTimer(ros::Duration(0.5), boost::bind(&Nodelet::heartbeat_callback, this, _1));
running = true;
polling_thread_inst = boost::thread(boost::bind(&Nodelet::polling_thread, this));
}
void ArduinoOnboard::onInit()
{
ros::NodeHandle nh = getNodeHandle();
m_nhPvt = getPrivateNodeHandle();
m_lastTime = ros::Time::now();
std::string port;
if(!m_nhPvt.getParam("port", port) ||
!m_nhPvt.getParam("numMovingAverageValues", m_numMovingAverageValues) ||
!m_nhPvt.getParam("wheelDiameter", m_wheelDiameter) ||
!m_nhPvt.getParam("triggerFPS", m_triggerFPS) ||
!m_nhPvt.getParam("srvBatteryCrit", srvBatteryCrit) ||
!m_nhPvt.getParam("srvBatteryLow", srvBatteryLow) ||
!m_nhPvt.getParam("camBatteryCrit", camBatteryCrit) ||
!m_nhPvt.getParam("camBatteryLow", camBatteryLow) ||
!m_nhPvt.getParam("lfRotationEnabled", m_lfEnabled) ||
!m_nhPvt.getParam("rfRotationEnabled", m_rfEnabled) ||
!m_nhPvt.getParam("lbRotationEnabled", m_lbEnabled) ||
!m_nhPvt.getParam("rbRotationEnabled", m_rbEnabled) )
{
ROS_ERROR("ArduinoOnboard: Could not get all arduinoOnboard parameters");
}
m_wheelSpeedPub = nh.advertise<autorally_msgs::wheelSpeeds>
("wheelSpeeds", 1);
m_servoPub = nh.advertise<autorally_msgs::servoMSG> ("RC", 1);
m_port.init(m_nhPvt, getName(), "", "ArduinoOnboard", port, true);
m_port.registerDataCallback(
boost::bind(&ArduinoOnboard::arduinoDataCallback, this));
loadServoParams();
}
void loadCalibrationData()
{
ros::NodeHandle& pn = getPrivateNodeHandle();
std::string calibration_file;
// Try to load a specific calibration file (if requested)
if (pn.getParam("calibration_file", calibration_file))
{
if (camera_->loadCalibrationData(calibration_file))
{
NODELET_INFO("Loaded calibration data from \"%s\"", calibration_file.c_str());
return;
}
else
{
NODELET_WARN("Failed to load calibration data from \"%s\"", calibration_file.c_str());
}
}
// Check whether the calibration data was loaded from the default location
if (camera_->isCalibrationDataLoaded())
{
NODELET_INFO("Loaded calibration data from default location (\"%s.dat\" in the working directory)", camera_->getSerialNumber().c_str());
}
else
{
NODELET_WARN("Will use default calibration data");
}
}
virtual void onInit()
{
NODELET_WARN_STREAM("Initializing nodelet..." << getName());
lp_.reset(new bta_tof_driver::BtaRos(getNodeHandle(), getPrivateNodeHandle(), getName()));
stream_thread_.reset(new boost::thread(boost::bind(&BtaRos::initialize, lp_.get())));
};
virtual void onInit() {
ros::NodeHandle& nh = getNodeHandle();
ros::NodeHandle& private_nh = getPrivateNodeHandle();
dynamic_set = false;
private_nh.getParam("min_height", min_height_);
private_nh.getParam("max_height", max_height_);
private_nh.getParam("row_min", u_min_);
private_nh.getParam("row_max", u_max_);
private_nh.getParam("output_frame_id", output_frame_id_);
pub_ = nh.advertise<sensor_msgs::LaserScan> ("scan", 10);
sub_ = nh.subscribe<PointCloud> ("cloud", 10, &CloudToScan::callback,
this);
marker_pub = nh.advertise<visualization_msgs::Marker> (
"visualization_marker", 10);
pcl_to_scan::cloud_to_scan_paramsConfig config;
config.max_height = max_height_;
config.min_height = min_height_;
// Set up a dynamic reconfigure server.
dr_srv = new dynamic_reconfigure::Server < pcl_to_scan::cloud_to_scan_paramsConfig > ();
cb = boost::bind(&CloudToScan::configCallback, this, _1, _2);
dr_srv->updateConfig(config);
dr_srv->setCallback(cb);
}
/*!
* @brief OnInit method from node handle.
* OnInit method from node handle. Sets up the parameters
* and topics.
*/
virtual void onInit()
{
ros::NodeHandle& nh = getNodeHandle();
ros::NodeHandle& private_nh = getPrivateNodeHandle();
private_nh.getParam("min_y", min_y_);
private_nh.getParam("max_y", max_y_);
private_nh.getParam("min_x", min_x_);
private_nh.getParam("max_x", max_x_);
private_nh.getParam("max_z", max_z_);
private_nh.getParam("goal_z", goal_z_);
private_nh.getParam("z_scale", z_scale_);
private_nh.getParam("x_scale", x_scale_);
private_nh.getParam("enabled", enabled_);
cmdpub_ = private_nh.advertise<geometry_msgs::Twist> ("cmd_vel", 1);
markerpub_ = private_nh.advertise<visualization_msgs::Marker>("marker",1);
bboxpub_ = private_nh.advertise<visualization_msgs::Marker>("bbox",1);
sub_= nh.subscribe<PointCloud>("depth/points", 1, &TurtlebotFollower::cloudcb, this);
switch_srv_ = private_nh.advertiseService("change_state", &TurtlebotFollower::changeModeSrvCb, this);
config_srv_ = new dynamic_reconfigure::Server<turtlebot_follower::FollowerConfig>(private_nh);
dynamic_reconfigure::Server<turtlebot_follower::FollowerConfig>::CallbackType f =
boost::bind(&TurtlebotFollower::reconfigure, this, _1, _2);
config_srv_->setCallback(f);
}
void loadCalibrationData()
{
ros::NodeHandle& pn = getPrivateNodeHandle();
std::string calibration_file;
// Try to load a specific calibration file (if requested)
if (pn.getParam("calibration_file", calibration_file) && !calibration_file.empty())
{
NODELET_INFO("Trying to load calibration from \"%s\"", calibration_file.c_str());
try
{
boost::lock_guard<boost::recursive_mutex> lock(config_mutex_);
camera_->loadCalibrationData(calibration_file);
NODELET_INFO("Loaded calibration data from \"%s\"", calibration_file.c_str());
return;
}
catch(PMDCameraNotOpenedException& e)
{
NODELET_WARN("Failed to load calibration data from \"%s\"", calibration_file.c_str());
}
}
// Check whether the calibration data was loaded from the default location
if (camera_->isCalibrationDataLoaded())
{
NODELET_INFO("Loaded calibration data from default location (\"%s.dat\" in the working directory)", camera_->getSerialNumber().c_str());
}
else
{
NODELET_WARN("Will use default calibration data");
}
}
void base_controller_nodelet::onInit( )
{
controller = new base_controller( getNodeHandle( ), getPrivateNodeHandle( ) );
if( autostart && !start( ) )
ROS_ERROR( "Failed to start controller" );
}
void Dm32ToDmNodelet::onInit()
{
nh_ = getNodeHandle();
private_nh_ = getPrivateNodeHandle();
nh_.param("sensor/name", sensor_name_, std::string("realsenseR200"));
image_transport::ImageTransport it(nh_);
image_pub_ = it.advertise("dm32_to_dm/output", 1);
sub_ = it.subscribe("dm32_to_dm/input", 1, &Dm32ToDmNodelet::cb, this);
scale_ = 0.001;
if(sensor_name_ == "realsenseF200")
{
sensor_depth_max_ = 1200;
}
else if(sensor_name_ == "realsenseR200")
{
private_nh_.param("sensor_depth_max", sensor_depth_max_, int(4000));
}
else if(sensor_name_ == "picoflexx")
{
nh_.param("sensor/depth/max", sensor_depth_max_, int(5000));
}
else {
NODELET_ERROR("Wrong sensor name!");
return;
}
NODELET_INFO_STREAM("Initialized dm32 to dm nodelet for sensor " << sensor_name_
<< ", with sensor_depth_max=" << sensor_depth_max_);
}
void SLICSuperPixels::onInit()
{
ROS_WARN("Maybe this node does not work for large size images with segfault.");
nh_ = ros::NodeHandle(getNodeHandle(), "image");
pnh_ = getPrivateNodeHandle();
srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (pnh_);
dynamic_reconfigure::Server<Config>::CallbackType f =
boost::bind (
&SLICSuperPixels::configCallback, this, _1, _2);
srv_->setCallback (f);
pnh_.param("publish_debug_images", debug_image_, false);
it_.reset(new image_transport::ImageTransport(nh_));
pub_ = pnh_.advertise<sensor_msgs::Image>("output", 1);
if (debug_image_) {
pub_debug_ = pnh_.advertise<sensor_msgs::Image>("debug", 1);
pub_debug_mean_color_ = pnh_.advertise<sensor_msgs::Image>("debug/mean_color", 1);
pub_debug_center_grid_ = pnh_.advertise<sensor_msgs::Image>("debug/center_grid", 1);
}
image_sub_ = it_->subscribe("", 1, &SLICSuperPixels::imageCallback, this);
ros::V_string names = boost::assign::list_of("image");
jsk_topic_tools::warnNoRemap(names);
}
void ScanToPointCloud::onInit() {
NODELET_INFO("ScanToPointCloud::onInit: Initializing...");
#ifdef USE_MT_NODE_HANDLE
ros::NodeHandle &nh = getMTNodeHandle();
ros::NodeHandle &pnh = getMTPrivateNodeHandle();
#else
ros::NodeHandle &nh = getNodeHandle();
ros::NodeHandle &pnh = getPrivateNodeHandle();
#endif
// Process parameters.
pnh.param("target_frame", targetFrame, targetFrame);
NODELET_INFO("ScanToPointCloud::onInit: Using target frame: %s.", targetFrame.data());
pnh.param("wait_for_transform", waitForTransform, waitForTransform);
NODELET_INFO("ScanToPointCloud::onInit: Maximum time to wait for transform: %.2f s.", waitForTransform);
pnh.param("channel_options", channelOptions, channelOptions);
NODELET_INFO("ScanToPointCloud::onInit: Channel options: %#x.", channelOptions);
pnh.param("scan_queue", scanQueue, scanQueue);
NODELET_INFO("ScanToPointCloud::onInit: Scan queue size: %i.", scanQueue);
pnh.param("point_cloud_queue", pointCloudQueue, pointCloudQueue);
NODELET_INFO("ScanToPointCloud::onInit: Point cloud queue size: %i.", pointCloudQueue);
// Subscribe scan topic.
std::string scanTopic = nh.resolveName("scan", true);
NODELET_INFO("ScanToPointCloud::onInit: Subscribing scan %s.", scanTopic.data());
scanSubscriber = nh.subscribe<sensor_msgs::LaserScan>(scanTopic, scanQueue, &ScanToPointCloud::scanCallback, this);
// Advertise scan point cloud.
std::string cloudTopic = nh.resolveName("cloud", true);
NODELET_INFO("ScanToPointCloud::onInit: Advertising point cloud %s.", cloudTopic.data());
pointCloudPublisher = nh.advertise<sensor_msgs::PointCloud2>(cloudTopic, pointCloudQueue, false);
}
// Handles (un)subscribing when clients (un)subscribe
void Stereoproc::connectCb()
{
boost::lock_guard<boost::mutex> connect_lock(connect_mutex_);
connected_.DebayerMonoLeft = (pub_mono_left_.getNumSubscribers() > 0)?1:0;
connected_.DebayerMonoRight = (pub_mono_right_.getNumSubscribers() > 0)?1:0;
connected_.DebayerColorLeft = (pub_color_left_.getNumSubscribers() > 0)?1:0;
connected_.DebayerColorRight = (pub_color_right_.getNumSubscribers() > 0)?1:0;
connected_.RectifyMonoLeft = (pub_mono_rect_left_.getNumSubscribers() > 0)?1:0;
connected_.RectifyMonoRight = (pub_mono_rect_right_.getNumSubscribers() > 0)?1:0;
connected_.RectifyColorLeft = (pub_color_rect_left_.getNumSubscribers() > 0)?1:0;
connected_.RectifyColorRight = (pub_color_rect_right_.getNumSubscribers() > 0)?1:0;
connected_.Disparity = (pub_disparity_.getNumSubscribers() > 0)?1:0;
connected_.DisparityVis = (pub_disparity_vis_.getNumSubscribers() > 0)?1:0;
connected_.Pointcloud = (pub_pointcloud_.getNumSubscribers() > 0)?1:0;
int level = connected_.level();
if (level == 0)
{
sub_l_raw_image_.unsubscribe();
sub_l_info_.unsubscribe();
sub_r_raw_image_.unsubscribe();
sub_r_info_.unsubscribe();
}
else if (!sub_l_raw_image_.getSubscriber())
{
ros::NodeHandle &nh = getNodeHandle();
// Queue size 1 should be OK; the one that matters is the synchronizer queue size.
/// @todo Allow remapping left, right?
image_transport::TransportHints hints("raw", ros::TransportHints(), getPrivateNodeHandle());
sub_l_raw_image_.subscribe(*it_, "left/image_raw", 1, hints);
sub_l_info_ .subscribe(nh, "left/camera_info", 1);
sub_r_raw_image_.subscribe(*it_, "right/image_raw", 1, hints);
sub_r_info_ .subscribe(nh, "right/camera_info", 1);
}
}
void ParserNodelet::onInit() {
ros::NodeHandle& nh = getPrivateNodeHandle();
std::string gnss_conf;
std::string raw_data_topic;
std::string gpgga_topic;
std::string corr_imu_topic;
std::string odometry_topic;
std::string gnss_status_topic;
std::string ins_status_topic;
nh.param("gnss_conf", gnss_conf, std::string("./conf/gnss_conf.txt"));
nh.param("raw_data_topic", raw_data_topic,
std::string("/apollo/sensor/gnss/raw_data"));
nh.param("gpgga_topic", gpgga_topic,
std::string("/apollo/sensor/gnss/gpgga"));
nh.param("corr_imu_topic", corr_imu_topic,
std::string("/apollo/sensor/gnss/corrected_imu"));
nh.param("odometry_topic", odometry_topic,
std::string("/apollo/sensor/gnss/odometry"));
nh.param("gnss_status_topic", gnss_status_topic,
std::string("/apollo/sensor/gnss/gnss_status"));
nh.param("ins_status_topic", ins_status_topic,
std::string("/apollo/sensor/gnss/ins_status"));
_data_parser.reset(new DataParser(nh, raw_data_topic, gpgga_topic,
corr_imu_topic, odometry_topic,
gnss_status_topic, ins_status_topic));
if (!_data_parser->init(gnss_conf)) {
ROS_ERROR("Init parser nodelet failed.");
ROS_ERROR_STREAM("Init parser nodelet failed.");
return;
}
ROS_INFO("Init parser nodelet success.");
}
virtual void onInit()
{
ros::NodeHandle & nh = getNodeHandle();
ros::NodeHandle & pnh = getPrivateNodeHandle();
std::string modelPath;
pnh.param("model", modelPath, modelPath);
if(modelPath.empty())
{
NODELET_ERROR("undistort_depth: \"model\" parameter should be set!");
}
model_.load(modelPath);
if(!model_.isValid())
{
NODELET_ERROR("Loaded distortion model from \"%s\" is not valid!", modelPath.c_str());
}
else
{
image_transport::ImageTransport it(nh);
sub_ = it.subscribe("depth", 1, &UndistortDepth::callback, this);
pub_ = it.advertise(uFormat("%s_undistorted", nh.resolveName("depth").c_str()), 1);
}
}
virtual void onInit() {
image_publisher_.reset(new ImagePublisher(getNodeHandle(), getPrivateNodeHandle()));
image_publisher_->load();
thread_available_ = true;
thread_ = boost::shared_ptr<boost::thread>(
new boost::thread(boost::bind(&ImagePublisherNodelet::spin, this)));
}
void
Image_nodelet::onInit(){
inst_.reset( new image_publisher(getNodeHandle(), getPrivateNodeHandle()));
//topic_listener_thread_ = boost::shared_ptr<boost::thread>(new boost::thread( boost::bind( &Image_nodelet::topic_listener, this )));
// ros::MultiThreadedSpinner spinner(0);
// spinner.spin();
}
void ImageConverter::onInit()
{
ros::NodeHandle& private_nh = getPrivateNodeHandle();
private_nh.getParam("color",color_);
image_sub_ = private_nh.subscribe("/camera/rgb/image_raw", 1, &ImageConverter::imageCb, this);
image_pub_ = private_nh.advertise<sensor_msgs::Image>("/camera/red/image_raw", 1);
}
virtual void onInit()
{
ros::NodeHandle& private_nh = getPrivateNodeHandle();
private_nh.getParam("value", value_);
pub = private_nh.advertise<std_msgs::Float64>("in", 10);
sub = private_nh.subscribe("in", 10, &Plus::callback, this);
//sub1 = private_nh.subscribe("in", 10, &Plus::callback, this);
}
void UsbCamNodelet::onInit()
{
ROS_INFO("Usb cam nodelet init");
usb_cam_.reset(new UsbCamWrapper(getNodeHandle(), getPrivateNodeHandle()));
// spawn device poll thread
device_thread_ = boost::shared_ptr<boost::thread>
(new boost::thread(boost::bind(&UsbCamWrapper::spin, usb_cam_)));
}
void
onInit()
{
n_ = getNodeHandle();
ros::NodeHandle pn = getPrivateNodeHandle();
pn.getParam("target_frame_id", target_frame_id_);
pn.getParam("table_frame_id", table_frame_id_);
pn.getParam("height_min", height_min_);
pn.getParam("height_max", height_max_);
XmlRpc::XmlRpcValue v;
pn.getParam("table_dimensions", v);
if( v.size() < 3)
{
ROS_ERROR("Hull points not set correctly, nodelet will not work");
return;
}
double x ,y, z;
x = (double)v[0];
y = (double)v[1];
z = (double)v[2];
Eigen::Vector3d p;
p << -x/2, -y/2, z;
hull_points_[0] = p;
p << -x/2, y/2, z;
hull_points_[1] = p;
p << x/2, y/2, z;
hull_points_[2] = p;
p << x/2, -y/2, z;
hull_points_[3] = p;
tf::StampedTransform trf_table;
try
{
tf_listener_.waitForTransform(target_frame_id_, table_frame_id_, ros::Time(), ros::Duration(2));
tf_listener_.lookupTransform(target_frame_id_, table_frame_id_, ros::Time(), trf_table);
}
catch (tf::TransformException& ex) {
ROS_ERROR("[transform region crop] : %s",ex.what());
return;
}
Eigen::Affine3d ad;
tf::transformTFToEigen(trf_table, ad);
for(int i = 0; i < hull_points_.size(); i++)
{
Point p;
p.getVector3fMap() = (ad*hull_points_[i]).cast<float>();
hull_->points[i] = p;
}
pc_sub_ = n_.subscribe<PointCloud>("point_cloud_in", 1, boost::bind(&TableRegionCropNodelet::topicCallback, this, _1));
pc_pub_ = n_.advertise<PointCloud>("point_cloud_out", 1);
eppd_.setInputPlanarHull(hull_);
eppd_.setHeightLimits(height_min_, height_max_);
eppd_.setViewPoint(0,0,5);
}
void Stereoproc::onInit()
{
ros::NodeHandle &nh = getNodeHandle();
ros::NodeHandle &private_nh = getPrivateNodeHandle();
it_.reset(new image_transport::ImageTransport(nh));
// Synchronize inputs. Topic subscriptions happen on demand in the connection
// callback. Optionally do approximate synchronization.
int queue_size;
private_nh.param("queue_size", queue_size, 5);
bool approx;
private_nh.param("approximate_sync", approx, false);
if (approx)
{
approximate_sync_.reset( new ApproximateSync(ApproximatePolicy(queue_size),
sub_l_raw_image_, sub_l_info_,
sub_r_raw_image_, sub_r_info_) );
approximate_sync_->registerCallback(boost::bind(&Stereoproc::imageCb,
this, _1, _2, _3, _4));
}
else
{
exact_sync_.reset( new ExactSync(ExactPolicy(queue_size),
sub_l_raw_image_, sub_l_info_,
sub_r_raw_image_, sub_r_info_) );
exact_sync_->registerCallback(boost::bind(&Stereoproc::imageCb,
this, _1, _2, _3, _4));
}
// Set up dynamic reconfiguration
ReconfigureServer::CallbackType f = boost::bind(&Stereoproc::configCb,
this, _1, _2);
reconfigure_server_.reset(new ReconfigureServer(config_mutex_, private_nh));
reconfigure_server_->setCallback(f);
// Monitor whether anyone is subscribed to the output
ros::SubscriberStatusCallback connect_cb = boost::bind(&Stereoproc::connectCb, this);
// Make sure we don't enter connectCb() between advertising and assigning to pub_disparity_
boost::lock_guard<boost::mutex> lock(connect_mutex_);
int publisher_queue_size;
private_nh.param("publisher_queue_size", publisher_queue_size, 1);
pub_mono_left_ = nh.advertise<sensor_msgs::Image>("left/image_mono", publisher_queue_size, connect_cb, connect_cb);
pub_mono_right_ = nh.advertise<sensor_msgs::Image>("right/image_mono", publisher_queue_size, connect_cb, connect_cb);
pub_color_left_ = nh.advertise<sensor_msgs::Image>("left/image_color", publisher_queue_size, connect_cb, connect_cb);
pub_color_right_ = nh.advertise<sensor_msgs::Image>("right/image_color", publisher_queue_size, connect_cb, connect_cb);
pub_mono_rect_left_ = nh.advertise<sensor_msgs::Image>("left/rect_mono", publisher_queue_size, connect_cb, connect_cb);
pub_color_rect_left_ = nh.advertise<sensor_msgs::Image>("left/rect_color", publisher_queue_size, connect_cb, connect_cb);
pub_mono_rect_right_ = nh.advertise<sensor_msgs::Image>("right/rect_mono", publisher_queue_size, connect_cb, connect_cb);
pub_color_rect_right_ = nh.advertise<sensor_msgs::Image>("right/rect_color", publisher_queue_size, connect_cb, connect_cb);
pub_disparity_ = nh.advertise<stereo_msgs::DisparityImage>("disparity", publisher_queue_size, connect_cb, connect_cb);
pub_disparity_vis_ = nh.advertise<sensor_msgs::Image>("disparity_vis", publisher_queue_size, connect_cb, connect_cb);
pub_pointcloud_ = nh.advertise<sensor_msgs::PointCloud2>("pointcloud", publisher_queue_size, connect_cb, connect_cb);
cv::cuda::printShortCudaDeviceInfo(cv::cuda::getDevice());
}
void GpsTransformPublisher::onInit()
{
ros::NodeHandle priv = getPrivateNodeHandle();
swri::param(priv,"child_frame_id", veh_frame_id_, std::string("base_link"));
swri::param(priv,"parent_frame_id", global_frame_id_, std::string("map"));
gps_sub_ = getNodeHandle().subscribe("gps", 100, &GpsTransformPublisher::HandleGps, this);
tf_manager_.Initialize();
}
void VisualOdometryNodelet::onInit()
{
NODELET_INFO("Initializing Visual Odometry Nodelet");
// TODO: Do we want the single threaded or multithreaded NH?
ros::NodeHandle nh = getNodeHandle();
ros::NodeHandle nh_private = getPrivateNodeHandle();
visual_odometry_.reset(new VisualOdometry(nh, nh_private));
}
virtual void onInit()
{
ros::NodeHandle& nh = getNodeHandle();
ros::NodeHandle& private_nh = getPrivateNodeHandle();
private_nh.getParam("max_rate", max_update_rate_);
pub_ = nh.advertise<PointCloud>("cloud_out", 10);
sub_ = nh.subscribe<PointCloud>("cloud_in", 10, &CloudThrottle::callback, this);
};
