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…ter' [elevation_mapping] Support multiple inputs GitOrigin-RevId: 7a4b30f9874825bdcb7078ce887e32eb097460eb
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elevation_mapping/include/elevation_mapping/input_sources/Input.hpp
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| /* | ||
| * Input.hpp | ||
| * | ||
| * Created on: Oct 06, 2020 | ||
| * Author: Magnus Gärtner | ||
| * Institute: ETH Zurich, ANYbotics | ||
| */ | ||
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| #pragma once | ||
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| #include <XmlRpc.h> | ||
| #include <ros/ros.h> | ||
| #include <string> | ||
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| namespace elevation_mapping { | ||
| class ElevationMapping; // Forward declare to avoid cyclic import dependency. | ||
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| /** | ||
| * @brief An Input feeds data to ElevationMapping callbacks. E.g it holds a subscription to an sensor source and registered an appropriate | ||
| * ElevationMapping callback. | ||
| */ | ||
| class Input { | ||
| public: | ||
| template <typename MsgT> | ||
| using CallbackT = void (ElevationMapping::*)(const boost::shared_ptr<const MsgT>&, bool); | ||
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| /** | ||
| * @brief Constructor. | ||
| * @param nh Reference to the nodeHandle of the manager. Used to subscribe | ||
| * to inputs. | ||
| */ | ||
| explicit Input(ros::NodeHandle& nh); | ||
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| /** | ||
| * @brief Configure the input source. | ||
| * @param parameters The configuration parameters. | ||
| * @return True if configuring was successful. | ||
| */ | ||
| bool configure(const XmlRpc::XmlRpcValue& parameters); | ||
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| /** | ||
| * @brief Registers the corresponding callback in the elevationMap. | ||
| * @param map The map we want to link this input source to. | ||
| * @param callback The callback to use for incoming data. | ||
| * @tparam MsgT The message types of the callback. | ||
| */ | ||
| template <typename MsgT> | ||
| void registerCallback(ElevationMapping& map, CallbackT<MsgT> callback); | ||
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| /** | ||
| * @return The topic (as absolute path, with renames) that this input | ||
| * subscribes to. | ||
| */ | ||
| std::string getSubscribedTopic() const; | ||
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| /** | ||
| * @return The type of this input source. | ||
| */ | ||
| std::string getType() { return type_; } | ||
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| private: | ||
| // Parameters. | ||
| std::string name_; | ||
| std::string type_; | ||
| uint32_t queueSize_; | ||
| std::string topic_; | ||
| bool publishOnUpdate_; | ||
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| // ROS connection. | ||
| ros::Subscriber subscriber_; | ||
| ros::NodeHandle& nodeHandle_; | ||
| }; | ||
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| template <typename MsgT> | ||
| void Input::registerCallback(ElevationMapping& map, CallbackT<MsgT> callback) { | ||
| subscriber_ = | ||
| nodeHandle_.subscribe<MsgT>(topic_, queueSize_, std::bind(callback, std::ref(map), std::placeholders::_1, publishOnUpdate_)); | ||
| ROS_INFO("Subscribing to %s: %s, queue_size: %i.", type_.c_str(), topic_.c_str(), queueSize_); | ||
| } | ||
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| } // namespace elevation_mapping |
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