From bbe55a9ba1eff586c718b9a8e6be583d602864bf Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 11 Jun 2020 12:49:17 +0200
Subject: [PATCH] subscriber new constructor with param server
---
include/subscriber.h | 29 +++++++++++++++++++++++++++--
include/subscriber_diffdrive.h | 7 ++++---
include/subscriber_odom2d.h | 7 ++++---
src/subscriber_diffdrive.cpp | 14 +++++---------
src/subscriber_odom2d.cpp | 16 ++++++----------
5 files changed, 46 insertions(+), 27 deletions(-)
diff --git a/include/subscriber.h b/include/subscriber.h
index 30f9089..eddd420 100644
--- a/include/subscriber.h
+++ b/include/subscriber.h
@@ -16,18 +16,43 @@
namespace wolf {
WOLF_PTR_TYPEDEFS(Subscriber);
+/*
+ * Macro for defining Autoconf subscriber creator for WOLF's high level API.
+ *
+ * Place a call to this macro inside your class declaration (in the subscriber_class.h file),
+ * preferably just after the constructors.
+ *
+ * In order to use this macro, the derived subscriber class, SubscriberClass,
+ * must have a constructor available with the API:
+ *
+ * SubscriberClass(const std::string& _unique_name,
+ * const ParamsServer& _server,
+ * const SensorBasePtr _sensor_ptr);
+ */
+#define WOLF_SUBSCRIBER_CREATE(SubscriberClass) \
+static SubscriberPtr create(const std::string& _unique_name, \
+ const ParamsServer& _server, \
+ const SensorBasePtr _sensor_ptr) \
+{ \
+ return std::make_shared<SubscriberClass>(_unique_name, _server, _sensor_ptr); \
+} \
+
class Subscriber
{
protected:
//wolf
SensorBasePtr sensor_ptr_;
+ std::string prefix_;
// ros
ros::Subscriber sub_;
public:
- Subscriber(const SensorBasePtr& sensor_ptr) :
- sensor_ptr_(sensor_ptr)
+ Subscriber(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr) :
+ sensor_ptr_(_sensor_ptr),
+ prefix_("ROS subscriber/" + _unique_name)
{
}
virtual ~Subscriber(){};
diff --git a/include/subscriber_diffdrive.h b/include/subscriber_diffdrive.h
index f2c0fd2..5783bd0 100644
--- a/include/subscriber_diffdrive.h
+++ b/include/subscriber_diffdrive.h
@@ -26,13 +26,14 @@ class SubscriberDiffdrive : public Subscriber
public:
- SubscriberDiffdrive(const SensorBasePtr& sensor_ptr);
+ SubscriberDiffdrive(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr);
+ WOLF_SUBSCRIBER_CREATE(SubscriberDiffdrive);
virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
void callback(const sensor_msgs::JointState::ConstPtr& msg);
-
- static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
};
WOLF_REGISTER_SUBSCRIBER(SubscriberDiffdrive)
diff --git a/include/subscriber_odom2d.h b/include/subscriber_odom2d.h
index 72aa775..849bbd1 100644
--- a/include/subscriber_odom2d.h
+++ b/include/subscriber_odom2d.h
@@ -22,13 +22,14 @@ class SubscriberOdom2d : public Subscriber
public:
- SubscriberOdom2d(const SensorBasePtr& sensor_ptr);
+ SubscriberOdom2d(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr);
+ WOLF_SUBSCRIBER_CREATE(SubscriberOdom2d);
virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
void callback(const nav_msgs::Odometry::ConstPtr& msg);
-
- static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
};
WOLF_REGISTER_SUBSCRIBER(SubscriberOdom2d)
diff --git a/src/subscriber_diffdrive.cpp b/src/subscriber_diffdrive.cpp
index 368ff40..9463c06 100644
--- a/src/subscriber_diffdrive.cpp
+++ b/src/subscriber_diffdrive.cpp
@@ -12,13 +12,15 @@
namespace wolf
{
-SubscriberDiffdrive::SubscriberDiffdrive(const SensorBasePtr& sensor_ptr)
- : Subscriber(sensor_ptr)
+SubscriberDiffdrive::SubscriberDiffdrive(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr)
+ : Subscriber(_unique_name, _server, _sensor_ptr)
, last_odom_stamp_(ros::Time(0))
, last_odom_seq_(-1)
{
last_angles_ = Eigen::Vector2d();
- ticks_cov_factor_ = std::static_pointer_cast<SensorDiffDrive>(sensor_ptr)->getParams()->ticks_cov_factor;
+ ticks_cov_factor_ = std::static_pointer_cast<SensorDiffDrive>(_sensor_ptr)->getParams()->ticks_cov_factor;
}
void SubscriberDiffdrive::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
@@ -66,10 +68,4 @@ void SubscriberDiffdrive::callback(const sensor_msgs::JointState::ConstPtr& msg)
last_odom_seq_ = msg->header.seq;
}
-std::shared_ptr<Subscriber> SubscriberDiffdrive::create(const std::string& _unique_name,
- const ParamsServer& _params,
- const SensorBasePtr _sensor_ptr)
-{
- return std::make_shared<SubscriberDiffdrive>(_sensor_ptr);
-};
} // namespace wolf
diff --git a/src/subscriber_odom2d.cpp b/src/subscriber_odom2d.cpp
index 6cebb0b..90a02c6 100644
--- a/src/subscriber_odom2d.cpp
+++ b/src/subscriber_odom2d.cpp
@@ -23,11 +23,13 @@
namespace wolf
{
-SubscriberOdom2d::SubscriberOdom2d(const SensorBasePtr& sensor_ptr)
- : Subscriber(sensor_ptr)
+SubscriberOdom2d::SubscriberOdom2d(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr)
+ : Subscriber(_unique_name, _server, _sensor_ptr)
, last_odom_stamp_(ros::Time(0))
- , odometry_translational_cov_factor_(std::static_pointer_cast<SensorOdom2d>(sensor_ptr)->getDispVarToDispNoiseFactor())
- , odometry_rotational_cov_factor_(std::static_pointer_cast<SensorOdom2d>(sensor_ptr)->getRotVarToRotNoiseFactor())
+ , odometry_translational_cov_factor_(std::static_pointer_cast<SensorOdom2d>(_sensor_ptr)->getDispVarToDispNoiseFactor())
+ , odometry_rotational_cov_factor_(std::static_pointer_cast<SensorOdom2d>(_sensor_ptr)->getRotVarToRotNoiseFactor())
{
}
@@ -58,10 +60,4 @@ void SubscriberOdom2d::callback(const nav_msgs::Odometry::ConstPtr& msg)
ROS_DEBUG("WolfNodePolyline::odomCallback: end");
}
-std::shared_ptr<Subscriber> SubscriberOdom2d::create(const std::string& _unique_name,
- const ParamsServer& _params,
- const SensorBasePtr _sensor_ptr)
-{
- return std::make_shared<SubscriberOdom2d>(_sensor_ptr);
-};
} // namespace wolf
--
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