pointcloud.hpp

// Copyright (c) 2022 Samsung R&D Institute Russia
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_COLLISION_MONITOR__POINTCLOUD_HPP_
#define NAV2_COLLISION_MONITOR__POINTCLOUD_HPP_
 
#include <memory>
#include <vector>
#include <string>
 
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "point_cloud_transport/point_cloud_transport.hpp"
 
#include "nav2_collision_monitor/source.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
namespace nav2_collision_monitor
{
 
class PointCloud : public Source
{
public:
  PointCloud(
    const nav2::LifecycleNode::WeakPtr & node,
    const std::string & source_name,
    const nav2::TransformBuffer::SharedPtr tf_buffer,
    const std::string & base_frame_id,
    const std::string & global_frame_id,
    const tf2::Duration & transform_tolerance,
    const rclcpp::Duration & source_timeout,
    const bool base_shift_correction);
  ~PointCloud();
 
  bool configure();
 
  bool getSourceData(
    const rclcpp::Time & curr_time,
    std::vector<Point> & data) override;
 
protected:
  void getParameters(std::string & source_topic);
 
  void dataCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
 
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
 
  // ----- Variables -----
 
  #if RCLCPP_VERSION_GTE(30, 0, 0)
  std::shared_ptr<point_cloud_transport::PointCloudTransport> pct_;
  point_cloud_transport::Subscriber data_sub_;
  #else
  nav2::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr data_sub_;
  #endif
 
  // Transport type used for PointCloud messages (e.g., raw or compressed)
  std::string transport_type_;
 
  // Minimum and maximum height of PointCloud projected to 2D space
  double min_height_, max_height_;
  // Minimum range from sensor origin to filter out close points
  double min_range_;
  bool use_global_height_;
 
  sensor_msgs::msg::PointCloud2::ConstSharedPtr data_;
};  // class PointCloud
 
}  // namespace nav2_collision_monitor
 
#endif  // NAV2_COLLISION_MONITOR__POINTCLOUD_HPP_