Rangefinder2D_nws_ros.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_RANGEFINDER2D_NWS_ROS_H
#define YARP_DEV_RANGEFINDER2D_NWS_ROS_H
 
 //#include <list>
#include <vector>
#include <iostream>
#include <string>
#include <sstream>
 
#include <yarp/os/Network.h>
#include <yarp/os/Port.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/Time.h>
#include <yarp/os/Property.h>
 
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Stamp.h>
 
#include <yarp/sig/Vector.h>
 
#include <yarp/dev/LaserScan2D.h>
#include <yarp/dev/IRangefinder2D.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/api.h>
#include <yarp/dev/IPreciselyTimed.h>
 
// ROS state publisher
#include <yarp/os/Node.h>
#include <yarp/os/Publisher.h>
#include <yarp/rosmsg/sensor_msgs/LaserScan.h>
#include <yarp/rosmsg/impl/yarpRosHelper.h>
 
 
#define DEFAULT_THREAD_PERIOD 0.02 //s
 
 
class Rangefinder2D_nws_ros :
        public yarp::os::PeriodicThread,
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle
{
public:
    Rangefinder2D_nws_ros();
    ~Rangefinder2D_nws_ros();
 
    bool open(yarp::os::Searchable &params) override;
    bool close() override;
 
    void attach(yarp::dev::IRangefinder2D *s);
    bool attach(yarp::dev::PolyDriver* driver) override;
    bool detach() override;
 
    bool threadInit() override;
    void threadRelease() override;
    void run() override;
 
private:
    // ROS streaming data
    std::string                                               frame_id;          // name of the frame measures are referred to
    std::string                                               nodeName;          // name of the rosNode
    std::string                                               topicName;         // name of the rosTopic
    yarp::os::Node*                                           node;              // add a ROS node
    yarp::os::NetUint32                                       msgCounter;        // incremental counter in the ROS message
    yarp::os::Publisher<yarp::rosmsg::sensor_msgs::LaserScan> publisherPort;     // Dedicated ROS topic publisher
 
private:
    //interfaces
    yarp::dev::PolyDriver m_driver;
    yarp::dev::IRangefinder2D* sens_p;
    yarp::dev::IPreciselyTimed* iTimed;
 
private:
    //device data
    yarp::os::Stamp lastStateStamp;
    double _period;
    double minAngle, maxAngle;
    double minDistance, maxDistance;
    double resolution;
    bool   isDeviceOwned;
 
private:
    //private methods
    bool checkROSParams(yarp::os::Searchable &config);
    bool initialize_ROS();
};
 
#endif //YARP_DEV_RANGEFINDER2D_NWS_ROS_H