Localization2D_nws_ros.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2006-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_LOCALIZATION2D_NWS_ROS_H
#define YARP_DEV_LOCALIZATION2D_NWS_ROS_H
 
 
#include <yarp/os/Network.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Time.h>
#include <yarp/os/Port.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/Node.h>
#include <yarp/os/Publisher.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ILocalization2D.h>
#include <yarp/dev/OdometryData.h>
#include <yarp/rosmsg/nav_msgs/Odometry.h>
#include <yarp/rosmsg/tf2_msgs/TFMessage.h>
#include <math.h>
 
class Localization2D_nws_ros :
        public yarp::dev::DeviceDriver,
        public yarp::os::PeriodicThread,
        public yarp::dev::WrapperSingle,
        public yarp::os::PortReader
{
protected:
 
    //yarp
    std::string                               m_local_name = "/localization2D_nws_ros";
    yarp::os::Port                            m_rpcPort;
    std::string                               m_rpcPortName;
    std::string                               m_robot_frame;
    std::string                               m_fixed_frame;
    bool                                      m_enable_publish_odometry_topic = true;
    bool                                      m_enable_publish_odometry_tf = true;
 
    //ROS
    std::string                                           m_child_frame_id = "base_link";
    std::string                                           m_parent_frame_id = "odom";
    std::string                                           m_node_name;
    yarp::os::Node*                                       m_node = nullptr;
    std::string                                           m_odom_topic_name;
    yarp::os::Publisher<yarp::rosmsg::nav_msgs::Odometry> m_odometry_publisher;
    yarp::os::Publisher<yarp::rosmsg::tf2_msgs::TFMessage>  m_tf_publisher;
 
    //drivers and interfaces
    yarp::dev::PolyDriver                   pLoc;
    yarp::dev::Nav2D::ILocalization2D*      iLoc = nullptr;
 
    double                                  m_stats_time_last;
    double                                  m_period;
    yarp::os::Stamp                         m_loc_stamp;
    yarp::os::Stamp                         m_odom_stamp;
 
    yarp::dev::OdometryData                     m_current_odometry;
    yarp::dev::Nav2D::Map2DLocation             m_current_position;
    yarp::dev::Nav2D::LocalizationStatusEnum    m_current_status = yarp::dev::Nav2D::LocalizationStatusEnum::localization_status_not_yet_localized;
 
private:
    void publish_odometry_on_ROS_topic();
    void publish_odometry_on_TF_topic();
 
public:
    Localization2D_nws_ros();
 
public:
    bool open(yarp::os::Searchable& prop) override;
    bool close() override;
    bool detach() override;
    bool attach(yarp::dev::PolyDriver* driver) override;
    void run() override;
 
    bool initialize_YARP(yarp::os::Searchable &config);
    bool initialize_ROS(yarp::os::Searchable& config);
    bool read(yarp::os::ConnectionReader& connection) override;
};
 
#endif // YARP_DEV_LOCALIZATION2D_NWS_ROS