~BaseMotionController()
{
base_odom.shutdown();
base_velocities_publisher.shutdown();
}
// Main loop.
int main(int argc, char **argv)
{
ros::init(argc, argv, "new_tagmapper_cu");
ros::NodeHandle n;
kill_pub = n.advertise<std_msgs::Int8>("/cu/killsg", 1000);
pose_sub = n.subscribe("/cu/pose_cu", 1, pose_callback);
marker_sub = n.subscribe("/cu/stargazer_marker_cu", 1, marker_callback);
speeds_sub = n.subscribe("/speeds_bus", 1, speeds_callback);
ros::Rate loop_rate(1000);
isStopped = false;
restart = false;
poseSampleCount = 0;
markerSampleCount = 0;
lastTagLine = 0;
memset(tagIDs, 0, PSEUDO_FILE_LINES*sizeof(int));
tagCount = 0;
currentTag = 0;
// Open the file, read it in, extract the tag IDs, and determine the place to insert the new tag.
int ifline = 0;
std::ifstream psin;
psin.open(pseudo_file, std::ifstream::in);
if (!psin.good()) {
return 1;
}
while (!psin.eof()) {
psin.getline(pseudo_text[ifline], PSEUDO_FILE_LINE_WIDTH);
ifline++;
}
psin.close();
for (int i = 0; i < PSEUDO_FILE_LINES; i++) {
if (strstr(pseudo_text[i], "/PseudoLiteMap")) {
lastTagLine = i;
break;
}
}
for (int i = 0; i < lastTagLine; i++) {
if (strstr(pseudo_text[i], "PseudoLite id")) {
sscanf(pseudo_text[i], " <PseudoLite id=\"%d\"", &tagIDs[tagCount]);
tagCount++;
}
}
// Run the main loop. If the new tag samples have all been retrieved and the robot is stopped, save the tag, kill Stargazer, and then shut down.
int count = 0;
while (ros::ok())
{
if (poseSampleCount == SAMPLES && markerSampleCount == SAMPLES && isStopped) {
saveTagInXml();
publish_kill();
break;
}
ros::spinOnce();
loop_rate.sleep();
++count;
}
kill_pub.shutdown();
pose_sub.shutdown();
marker_sub.shutdown();
speeds_sub.shutdown();
return 0;
}
void jointCallback(const sensor_msgs::JointState & msg){
ROS_INFO("RECEIVED JOINT VALUES");
if(itHappened){
sub.shutdown();
cout<<"not again"<<endl;
return;
}
if (msg.name.size()== 6 ) {
itHappened=true;
for (int i=0;i<6;i++){
joint_pos[i] = msg.position[i];
name[i] = msg.name[i];
// cout<<" , "<<name[i]<<":"<<joint_pos[i];
}
sub.shutdown();
}
}
void dynamicReconfigureCallback(pcl_filters::passthroughConfig &config, uint32_t level)
{
ros::NodeHandle nh("~");
if (axis_.compare(config.filteration_axis.c_str()) != 0)
{
axis_ = config.filteration_axis.c_str();
}
if (min_range_ != config.min_range)
{
min_range_ = config.min_range;
}
if (max_range_ != config.max_range)
{
max_range_ = config.max_range;
}
std::string temp_str = config.passthrough_sub.c_str();
if (!config.passthrough_sub.empty() && passthrough_sub_.compare(temp_str) != 0)
{
sub_.shutdown();
passthrough_sub_ = config.passthrough_sub.c_str();
sub_ = nh.subscribe (passthrough_sub_, 1, cloudCallback);
}
ROS_INFO("Reconfigure Request: %s %f %f",axis_.c_str(), min_range_,max_range_);
}
void camerainfoCb(const sensor_msgs::CameraInfoConstPtr& info_msg)
{
ROS_INFO("infocallback :shutting down camerainfosub");
cam_model_.fromCameraInfo(info_msg);
camera_topic = info_msg->header.frame_id;
camerainfosub_.shutdown();
}
bool getNearestObject(hbrs_srvs::GetPose::Request &req, hbrs_srvs::GetPose::Response &res)
{
// if not subscribe to laser scan topic, do it
if(!subscribed_to_topic)
{
sub_scan = nh_ptr->subscribe<sensor_msgs::LaserScan>("/scan", 1, laserScanCallback);
subscribed_to_topic = true;
}
// check if new laser scan data has arrived
scan_received = false;
while(!scan_received)
ros::spinOnce();
// calculate nearest object pose
geometry_msgs::PoseStamped pose;
pose = calculateNearestObject(laser_scan);
res.pose = pose.pose;
// unsubscribe from topic to save computational resources
sub_scan.shutdown();
subscribed_to_topic = false;
return true;
}
void cam_info_callback(const sensor_msgs::CameraInfo &msg)
{
tgCamParams = TomGine::tgCamera::Parameter(msg);
ROS_INFO("Camera parameters received.");
camera_info = msg;
need_cam_init = false;
cam_info_sub.shutdown();
}
void XYOriginCallback(const topic_tools::ShapeShifter::ConstPtr msg)
{
try
{
const gps_common::GPSFixConstPtr origin = msg->instantiate<gps_common::GPSFix>();
xy_wgs84_util_.reset(
new swri_transform_util::LocalXyWgs84Util(
origin->latitude,
origin->longitude,
origin->track,
origin->altitude));
origin_sub_.shutdown();
return;
}
catch (...) {}
try
{
const geometry_msgs::PoseStampedConstPtr origin = msg->instantiate<geometry_msgs::PoseStamped>();
xy_wgs84_util_.reset(
new swri_transform_util::LocalXyWgs84Util(
origin->pose.position.y, // Latitude
origin->pose.position.x, // Longitude
0.0, // Heading
origin->pose.position.z)); // Altitude
origin_sub_.shutdown();
return;
}
catch(...) {}
try
{
const geographic_msgs::GeoPoseConstPtr origin = msg->instantiate<geographic_msgs::GeoPose>();
xy_wgs84_util_.reset(
new swri_transform_util::LocalXyWgs84Util(
origin->position.latitude,
origin->position.longitude,
tf::getYaw(origin->orientation),
origin->position.altitude));
origin_sub_.shutdown();
return;
}
catch(...) {}
ROS_ERROR_THROTTLE(1.0, "Unsupported message type received for local_xy_origin.");
}
void wallDetectCB(std_msgs::Bool)
{
ROS_INFO("Drag Race Controller got wall.");
racecar_set_speed(0);
race_end_subscriber.shutdown();
system("rosnode kill iarrc_lane_detection &\n");
system("rosnode kill drag_race_end_detector &\n");
exit(0);
}
void unsubscribe()
{
if (use_indices_) {
sub_input_.unsubscribe();
sub_indices_.unsubscribe();
}
else {
sub_.shutdown();
}
}
void stop()
{
if (!running_) return;
cam_->stop(); // Must stop camera before streaming_pub_.
poll_srv_.shutdown();
trigger_sub_.shutdown();
streaming_pub_.shutdown();
running_ = false;
}
void stoplightCB(std_msgs::Bool)
{
ROS_INFO("Drag Race Controller got stoplight.");
racecar_set_speed(14);
//racecar_set_speed(0);
stoplight_subscriber.shutdown();
system("rosnode kill stoplight_watcher &\n");
system("roslaunch iarrc_launch lane_detection.launch &\n");
system("roslaunch iarrc_launch race_end_detector.launch &\n");
race_end_subscriber = nh->subscribe(race_end_topic, 1, wallDetectCB);
}
//service callback:
//pause the topic model
void pause(bool p){
if(p){
ROS_INFO("stopped listening to words");
word_sub.shutdown();
}
else{
ROS_INFO("started listening to words");
word_sub = nh->subscribe("words", 10, words_callback);
}
rost->pause(p);
paused=p;
}
bool stop(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
{
if(subscribed_to_topic)
{
sub_scan.shutdown();
subscribed_to_topic = false;
}
continues_mode_enabled = false;
ROS_INFO("nearest object detector DISABLED");
return true;
}
bool
stop (camera_srv_definitions::start_tracker::Request & req,
camera_srv_definitions::start_tracker::Response & response)
{
#ifdef USE_PCL_GRABBER
if(interface.get())
interface->stop();
#else
camera_topic_subscriber_.shutdown();
#endif
if (!camtracker.empty())
camtracker->stopObjectManagement();
return true;
}
// gets camera intrinsic parameters
void camInfoCB(const sensor_msgs::CameraInfoConstPtr& camInfoMsg)
{
//get camera info
image_geometry::PinholeCameraModel cam_model;
cam_model.fromCameraInfo(camInfoMsg);
camMat = cv::Mat(cam_model.fullIntrinsicMatrix());
camMat.convertTo(camMat,CV_32FC1);
cam_model.distortionCoeffs().convertTo(distCoeffs,CV_32FC1);
//unregister subscriber
ROS_DEBUG("Got camera intrinsic parameters!");
camInfoSub.shutdown();
gotCamParam = true;
}
// wait for one camerainfo, then shut down that subscriber
void cam_info_callback(const sensor_msgs::CameraInfo &msg)
{
camParam = aruco_ros::rosCameraInfo2ArucoCamParams(msg, useRectifiedImages);
// handle cartesian offset between stereo pairs
// see the sensor_msgs/CamaraInfo documentation for details
rightToLeft.setIdentity();
rightToLeft.setOrigin(
tf::Vector3(
-msg.P[3]/msg.P[0],
-msg.P[7]/msg.P[5],
0.0));
cam_info_received = true;
cam_info_sub.shutdown();
}
//MAIN
int main(int argc, char** argv)
{
ros::init(argc, argv, "wheel_motor_node"); //Initialize node
ros::NodeHandle n; //Create nodehandle object
sub = n.subscribe("wheel_motor_rc", 1000, callBack); //Create object to subscribe to topic "wheel_motor_rc"
pub = n.advertise<motor_controller::AdaCmd>("adaFruit",1000); //Create object to publish to topic "I2C"
while(pub.getNumSubscribers()==0);//Prevents message from sending when publisher is not completely connected to subscriber.
//ros::Rate loop_rate(10); //Set frequency of looping. 10 Hz
setGPIOWrite(33,1); //Motor enable
while(ros::ok())
{
//Update time
current_time = ros::Time::now();
//Check if interval has passed
if(current_time - last_time > update_rate)
{
//Reset time
last_time = current_time;
if(sub.getNumPublishers() == 0) //In case of loss of connection to publisher, set controller outputs to 0
{
ROS_WARN("Loss of wheel motor controller input!");
leftFrontWheel.setU(0); //Set controller inputs
leftRearWheel.setU(0);
rightRearWheel.setU(0);
rightFrontWheel.setU(0);
}
controlFunction(); //Motor controller function
pub.publish(generateMessage());
}
ros::spinOnce();
}
stopAllMotors();
return 0;
}
// The real initialization is being done after receiving the camerainfo.
void cam_info_callback(const sensor_msgs::CameraInfo &msg)
{
if(parent_->tracker == 0)
{
ROS_INFO("Camera parameters received, ready to run.");
cam_info_sub.shutdown();
parent_->tracker = new blort_ros::GLTracker(msg, parent_->root_, true);
image_sub = parent_->it_.subscribe("/blort_image", 10, &TrackerNode::imageCb, parent_);
parent_->control_service = parent_->nh_.advertiseService("tracker_control", &TrackerNode::trackerControlServiceCb, parent_);
parent_->server_ = std::auto_ptr<dynamic_reconfigure::Server<blort_ros::TrackerConfig> >
(new dynamic_reconfigure::Server<blort_ros::TrackerConfig>());
parent_->f_ = boost::bind(&TrackerNode::TrackingMode::reconf_callback, this, _1, _2);
parent_->server_->setCallback(parent_->f_);
parent_->recovery_client = parent_->nh_.serviceClient<blort_ros::RecoveryCall>("/blort_detector/pose_service");
}
}
bool stopServiceCallBack(qbo_video_record::StopRecord::Request &req,
qbo_video_record::StopRecord::Response &res )
{
ROS_INFO("Service Called");
ROS_INFO("Recived:Stop");
// cvReleaseVideoWriter(&writer);
if (status==1)
{
status=0;
kill( pID, SIGKILL );
sub.shutdown();
thread thread_1 = thread(combineAudioVideo);
res.result=true;
}
else{
res.result=false;
}
return true;
}
void cam_info_callback(const sensor_msgs::CameraInfo &msg)
{
if(detector == 0)
{
ROS_INFO("Camera parameters received, ready to run.");
cam_info_sub.shutdown();
detector = new blort_ros::GLDetector(msg, root_);
if(nn_match_threshold != 0.0)
detector->setNNThreshold(nn_match_threshold);
if(ransac_n_points_to_match != 0)
detector->setRansacNPointsToMatch(ransac_n_points_to_match);
pose_service = nh_.advertiseService("pose_service", &DetectorNode::recovery, this);
// lines for dynamic_reconfigure
server_ = std::auto_ptr<dynamic_reconfigure::Server<blort_ros::DetectorConfig> >
(new dynamic_reconfigure::Server<blort_ros::DetectorConfig>());
f_ = boost::bind(&DetectorNode::reconf_callback, this, _1, _2);
server_->setCallback(f_);
}
}
MyLittleTurtle(ros::NodeHandle& nodeHandle): m_nodeHandle(nodeHandle)
{
ROS_INFO("Publishing topic...");
m_turtlesimPublisher = m_nodeHandle.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
ROS_INFO("Subscribing to turtlesim topic...");
m_turtlesimSubscriber = m_nodeHandle.subscribe("/turtle1/pose", 10, &MyLittleTurtle::updateTurtleStatus, this);
ROS_INFO("Waiting for turtlesim...");
ros::Rate loopRate(10);
while (ros::ok() && (m_turtlesimPublisher.getNumSubscribers() <= 0 || m_turtlesimSubscriber.getNumPublishers() <= 0))
loopRate.sleep();
checkRosOk_v();
ROS_INFO("Retrieving initial status...");
ros::spinOnce();
ROS_INFO("Initial status: x=%.3f, y=%.3f, z=%.3f", m_status.x, m_status.y, m_status.z);
ROS_INFO("Everything's ready.");
}
// move platform server receives a new goal
void moveGoalCB()
{
set_terminal_state_ = true;
move_goal_.nav_goal = as_.acceptNewGoal()->nav_goal;
ROS_INFO_STREAM_NAMED(logger_name_, "Received Goal #" <<move_goal_.nav_goal.header.seq);
if (as_.isPreemptRequested() ||!ros::ok())
{
ROS_WARN_STREAM_NAMED(logger_name_, "Preempt Requested on goal #" << move_goal_.nav_goal.header.seq);
if (planning_)
ac_planner_.cancelGoalsAtAndBeforeTime(ros::Time::now());
if (controlling_)
ac_control_.cancelGoalsAtAndBeforeTime(ros::Time::now());
move_result_.result_state = 0;
move_result_.error_string = "Preempt Requested!!!";
as_.setPreempted(move_result_);
return;
}
// Convert move goal to plan goal
pose_goal_.pose_goal = move_goal_.nav_goal;
if (planner_state_sub.getNumPublishers()==0)
{
ROS_WARN_STREAM_NAMED(logger_name_, "Goal #" << move_goal_.nav_goal.header.seq << " not sent - planner is down");
planning_ = false;
move_result_.result_state = 0;
move_result_.error_string = "Planner is down";
as_.setAborted(move_result_);
}
else
{
ac_planner_.sendGoal(pose_goal_, boost::bind(&MovePlatformAction::planningDoneCB, this, _1, _2),
actionlib::SimpleActionClient<oea_planner::planAction>::SimpleActiveCallback(),
actionlib::SimpleActionClient<oea_planner::planAction>::SimpleFeedbackCallback());
planning_ = true;
ROS_DEBUG_STREAM_NAMED(logger_name_, "Goal #" << move_goal_.nav_goal.header.seq << " sent to planner");
}
return;
}
void planningDoneCB(const actionlib::SimpleClientGoalState& state, const oea_planner::planResultConstPtr &result)
{
planning_ = false;
ROS_DEBUG_STREAM_NAMED(logger_name_, "Plan Action finished: " << state.toString());
move_result_.result_state = result->result_state;
if (move_result_.result_state) //if plan OK
{
planned_path_goal_.plan_goal = result->planned_path; // goal for the controller is result of the planner
if (ctrl_state_sub.getNumPublishers()==0)
{
ROS_WARN_STREAM_NAMED(logger_name_, "Goal #" << move_goal_.nav_goal.header.seq << " not sent - Controller is down");
controlling_ = false;
move_result_.result_state = 0;
move_result_.error_string = "Controller is down!!!";
as_.setAborted(move_result_);
}
else
{
ac_control_.sendGoal(planned_path_goal_, boost::bind(&MovePlatformAction::ControlDoneCB, this, _1, _2),
actionlib::SimpleActionClient<oea_controller::controlPlatformAction>::SimpleActiveCallback(),
actionlib::SimpleActionClient<oea_controller::controlPlatformAction>::SimpleFeedbackCallback()); //boost::bind(&MovePlatformAction::ControlFeedbackCB, this,_1));
controlling_ = true;
ROS_DEBUG_STREAM_NAMED(logger_name_,"Goal #" << move_goal_.nav_goal.header.seq << " sent to Controller");
}
}
else //if plan NOT OK
{
ac_control_.cancelGoalsAtAndBeforeTime(ros::Time::now());
move_result_.error_string = "Planning Failed: " + result->error_string;
ROS_WARN_STREAM_NAMED(logger_name_, "Aborting because " << move_result_.error_string);
as_.setAborted(move_result_);
}
return;
}
void pr2_marker_cb_old(ar_track_alvar_msgs::AlvarMarkersConstPtr markers) {
static int state = 0;
geometry_msgs::PointStamped point;
point.header.frame_id = "/base_link";
point.point.x = 0.3;
point.point.z = 1;
if (state == 0) {
point.point.y = -0.5;
head_look_at_pub.publish(point);
ros::Duration(2).sleep();
state = 1;
} else if (state == 1 && pr2_poses.size() >= POSES_COUNT/2) {
point.point.y = 0.2;
head_look_at_pub.publish(point);
ros::Duration(2).sleep();
state = 2;
} else if (state == 2 && pr2_poses.size() >= POSES_COUNT) {
tr_pr2_ = create_transform_from_poses_vector(pr2_poses, robot_frame_);
pr2_marker_sub.shutdown();
pr2_calibration_done_ = true;
tr_timer_ = nh_.createTimer(ros::Duration(0.01), &ArtCalibration::trCallback, this);
}
geometry_msgs::Pose pose;
try {
pose = get_main_marker_pose(*markers);
pr2_poses.push_back(pose);
}
catch (NoMainMarker& e) {
std::cout << e.what() << std::endl;
return;
}
}
// Connection callback that unsubscribes from the tracker if no one is subscribed.
void connectCallback(ros::Subscriber &sub_msg,
ros::NodeHandle &n,
string gp_topic,
string img_topic,
Subscriber<GroundPlane> &sub_gp,
Subscriber<CameraInfo> &sub_cam,
image_transport::SubscriberFilter &sub_col,
image_transport::ImageTransport &it){
if(!pub_message.getNumSubscribers() && !pub_result_image.getNumSubscribers() && !pub_detected_persons.getNumSubscribers()) {
ROS_DEBUG("HOG: No subscribers. Unsubscribing.");
sub_msg.shutdown();
sub_gp.unsubscribe();
sub_cam.unsubscribe();
sub_col.unsubscribe();
} else {
ROS_DEBUG("HOG: New subscribers. Subscribing.");
if(strcmp(gp_topic.c_str(), "") == 0) {
sub_msg = n.subscribe(img_topic.c_str(), 1, &imageCallback);
}
sub_cam.subscribe();
sub_gp.subscribe();
sub_col.subscribe(it,sub_col.getTopic().c_str(),1);
}
}
void saveImagesToDisk(ros::NodeHandle& nh, ros::Subscriber& sub)
{
//pcl::ScopeTime t1 ("save images");
{
boost::mutex::scoped_lock lock(rgb_mutex_);
memcpy( cv_rgb_.data, &rgb_data_[0], 3*rows_*cols_*sizeof(unsigned char));
new_rgb_ = false;
}
capture_->stop();
sub.shutdown();
sub = nh.subscribe("/camera/depth/image_raw", 1, &OpenNIShoter::frameDepthCallback, this);
new_depth_ = false;
capture_->start();
do
{
if (new_depth_ == true )
{
boost::mutex::scoped_lock lock(depth_mutex_);
memcpy( cv_depth_.data, &depth_data_[0], rows_*cols_*sizeof(uint16_t));
new_depth_ = false;
break;
}
boost::this_thread::sleep (boost::posix_time::millisec (10));
} while (1);
capture_->stop();
sub.shutdown();
sub = nh.subscribe("/camera/ir/image", 1, &OpenNIShoter::frameIRCallback, this);
new_ir_ = false;
capture_->start();
do
{
if (new_ir_ == true )
{
boost::mutex::scoped_lock lock(ir_mutex_);
memcpy( cv_ir_raw_.data, &ir_data_[0], rows_*cols_*sizeof(uint16_t));
cv_ir_raw_.convertTo(cv_ir_, CV_8U);
cv::equalizeHist( cv_ir_, cv_ir_ );
int max = 0;
for (int i=0; i< rows_; i++)
{
for (int j=0; j< cols_; j++)
{
if (ir_data_[i+j*rows_] > max)
max = ir_data_[i+j*rows_];
}
}
std::cout << "max IR val: " << max << std::endl;
new_ir_ = false;
break;
}
boost::this_thread::sleep (boost::posix_time::millisec (10));
} while (1);
capture_->stop();
sub.shutdown();
sub = nh.subscribe("/camera/rgb/image_raw", 1, &OpenNIShoter::frameRGBCallback, this);
capture_->start();
sprintf(depth_file, "/Depth/%018ld.png", timestamp_depth_ );
sprintf(rgb_file, "/RGB/%018ld.png", timestamp_rgb_);
sprintf(ir_file, "/IR/%018ld.png", timestamp_ir_);
cv::imwrite( write_folder_ + depth_file, cv_depth_);
cv::imwrite( write_folder_ + rgb_file, cv_rgb_);
cv::imwrite( write_folder_ + ir_file, cv_ir_);
sprintf(depth_file_PNG, "/Depth/%018ld.png", timestamp_depth_);
sprintf(rgb_file_PNG, "/RGB/%018ld.png", timestamp_rgb_);
sprintf(ir_file_PNG, "/IR/%018ld.png", timestamp_ir_);
off_rgb_.width(18);
off_rgb_.fill('0');
off_rgb_ << timestamp_rgb_;
off_rgb_ << " " << rgb_file_PNG << std::endl;
off_depth_.width(18);
off_depth_.fill('0');
off_depth_ << timestamp_depth_;
off_depth_ << " " << depth_file_PNG << std::endl;
off_ir_.width(18);
off_ir_.fill('0');
off_ir_ << timestamp_ir_;
off_ir_ << " " << ir_file_PNG << std::endl;
}
bool
start (camera_srv_definitions::start_tracker::Request & req,
camera_srv_definitions::start_tracker::Response & response)
{
cameras_.clear();
keyframes_.clear();
saved_clouds_ = 0;
conf_=0;
pose_ = Eigen::Matrix4f::Identity();
initializeVisualizationMarkers();
#ifdef USE_PCL_GRABBER
try
{
interface.reset( new pcl::io::OpenNI2Grabber() );
}
catch (pcl::IOException e)
{
std::cout << "PCL threw error " << e.what()
<< ". Could not start camera..." << std::endl;
return false;
}
cv::Mat_<double> distCoeffs;
cv::Mat_<double> intrinsic = cv::Mat::zeros(3, 3, CV_64F);
intrinsic.at<double>(0,0) = 525.f;
intrinsic.at<double>(1,1) = 525.f;
intrinsic.at<double>(0,2) = 320.f;
intrinsic.at<double>(1,2) = 240.f;
intrinsic.at<double>(2,2) = 1.f;
std::cout << intrinsic << std::endl << std::endl;
camtracker.reset( new v4r::KeypointSlamRGBD2(param) );
camtracker->setCameraParameter(intrinsic,distCoeffs);
boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
boost::bind (&CamTracker::cloud_cb_, this, _1);
interface->registerCallback (f);
interface->start ();
std::cout << "Camera started..." << std::endl;
#else
camera_info_subscriber_ = n_->subscribe(camera_topic_ +"/camera_info", 1, &CamTracker::camera_info_cb, this);
ROS_INFO_STREAM("Wating for camera info...topic=" << camera_topic_ << "/camera_info...");
while (!got_camera_info_) {
ros::Duration(0.1).sleep();
ros::spinOnce();
}
ROS_INFO("got it.");
camera_info_subscriber_.shutdown();
cv::Mat_<double> distCoeffs = cv::Mat(4, 1, CV_64F, camera_info_.D.data());
cv::Mat_<double> intrinsic = cv::Mat(3, 3, CV_64F, camera_info_.K.data());
camtracker.reset( new v4r::KeypointSlamRGBD2(param) );
camtracker->setCameraParameter(intrinsic,distCoeffs);
confidence_publisher_ = n_->advertise<std_msgs::Float32>("cam_tracker_confidence", 1);
camera_topic_subscriber_ = n_->subscribe(camera_topic_ +"/points", 1, &CamTracker::getCloud, this);
#endif
last_cloud_ = boost::posix_time::microsec_clock::local_time ();
last_cloud_ros_time_ = ros::Time::now();
return true;
}
void sendGoalFromTopic(const geometry_msgs::PoseArrayConstPtr& msg)
{
ROS_INFO("[pick and place] Got goal from topic! %s", goal_->topic.c_str());
pickAndPlace(msg->poses[0], msg->poses[1]);
pick_and_place_sub_.shutdown();
}
// wait for one camerainfo, then shut down that subscriber
void cam_info_callback(const sensor_msgs::CameraInfo &msg)
{
camParam = aruco_ros::rosCameraInfo2ArucoCamParams(msg, useRectifiedImages);
cam_info_received = true;
cam_info_sub.shutdown();
}