LocalizationServer.h 2.13 KB
Newer Older
flashingx's avatar
flashingx committed
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
//    This ROS node is subscribed to the ViconDataPublisher as well as
//	  to the UWBDataPublisher. It is used to relay the data from the
//	  desired localisation source to the controller and the GUI.
//
//    Copyright (C) 2018
//          Yvan Bosshard           byvan       @ee.ethz.ch
//          Michael Rogenmoser      michaero    @ee.ethz.ch
//          Tiago Salzmann          tiagos      @ee.ethz.ch
//
//    This program is free software: you can redistribute it and/or modify
//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation, either version 3 of the License, or
//    (at your option) any later version.
//
//    This program is distributed in the hope that it will be useful,
//    but WITHOUT ANY WARRANTY; without even the implied warranty of
//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//    GNU General Public License for more details.
//
//    You should have received a copy of the GNU General Public License
//    along with this program.  If not, see <http://www.gnu.org/licenses/>.
22
23
24
25
26
27
28
29
30

#ifndef LOCALIZATIONSERVER_H
#define LOCALIZATIONSERVER_H

#include "std_msgs/Int32.h"

#include "ros/ros.h"

#include "d_fall_pps/ViconData.h"
31
#include "d_fall_pps/CrazyflieData.h"
32
33
34
35
36
37
38
39
40

namespace d_fall_pps
{
	// Loads the parameters of the node handle
	bool loadParameters(ros::NodeHandle &nodeHandle);

	// Loads the current context of the client
	void loadCrazyflieContext();

flashingx's avatar
flashingx committed
41
	// Loads Settings from UWBManagerService
42
43
	void loadUWBSettings();

flashingx's avatar
flashingx committed
44
45
46
	/************************************************************
	 *	Callbacks		  										*
	 ***********************************************************/
47
48
49
50
51
	// Callback function to handle incoming Vicon data
	void viconDataCallback(const ViconData &viconData);

	// Callback function to handle the change in database information
	void dbChangedCallback(const std_msgs::Int32 &msg);
52

53
54
	// Callback function to handle incoming UWB data
	void UWBDataCallback(const CrazyflieData &data);
55

flashingx's avatar
flashingx committed
56
	// Callback function called when student changes UWB Status
57
	void uwbChangedCallback(const std_msgs::Int32 &msg);
58
59
60
}

#endif // LOCALIZATIONSERVER_H included