ROS.h

#ifndef IO_ROS_H
#define IO_ROS_H

#include <vector>
#include <KrisLibrary/math3d/primitives.h>
//forward declarations
namespace Meshing { class PointCloud3D; }

namespace Klampt {
class WorldModel;
class RobotModel;
class SimRobotController;
class Simulator;
class LinearPath;
class SensorBase;


bool ROSInit(const char* nodename="klampt");
bool ROSShutdown();
bool ROSInitialized();
bool ROSSubscribeUpdate();
bool ROSDetach(const char* topic);
int ROSNumSubscribedTopics();
int ROSNumPublishedTopics();
bool ROSIsConnected(const char* topic);
std::string ROSFrame(const char* topic);
bool ROSWaitForUpdate(const char* topic,double timeout=0);
bool ROSHadUpdate(const char* topic);
bool ROSSetQueueSize(int size);

bool ROSPublishPose(const Math3D::RigidTransform& T,const char* topic="klampt/transform");
bool ROSPublishJointState(const RobotModel& robot,const char* topic="klampt/joint_state");
bool ROSPublishPointCloud(const Meshing::PointCloud3D& pc,const char* topic="klampt/point_cloud");
bool ROSPublishTrajectory(const LinearPath& path,const char* topic="klampt/trajectory");
bool ROSPublishTrajectory(const RobotModel& robot,const LinearPath& path,const char* topic="klampt/trajectory");
bool ROSPublishTrajectory(const RobotModel& robot,const std::vector<int>& indices,const LinearPath& path,const char* topic="klampt/trajectory");
bool ROSPublishCommandedJointState(SimRobotController& robot,const char* topic="klampt/joint_state_commanded");
bool ROSPublishSensedJointState(SimRobotController& robot,const char* topic="klampt/joint_state_sensed");
bool ROSPublishSensorMeasurement(const SensorBase* sensor,const char* topic="klampt/sensor");
bool ROSPublishSensorMeasurement(const SensorBase* sensor,const RobotModel& robot,const char* topic="klampt/sensor",const char* frameprefix="klampt");

bool ROSSubscribePose(Math3D::RigidTransform& T,const char* topic="klampt/joint_state");
bool ROSSubscribeJointState(RobotModel& robot,const char* topic="klampt/joint_state");
bool ROSSubscribePointCloud(Meshing::PointCloud3D& pc,const char* topic="klampt/point_cloud");
bool ROSSubscribeTrajectory(LinearPath& path,const char* topic="klampt/trajectory");
bool ROSSubscribeTrajectory(RobotModel& robot,LinearPath& path,const char* topic="klampt/trajectory");

bool ROSPublishTransforms(const WorldModel& world,const char* frameprefix="klampt");
bool ROSPublishTransforms(const Simulator& sim,const char* frameprefix="klampt");
bool ROSPublishTransforms(const RobotModel& robot,const char* frameprefix="klampt");
bool ROSPublishTransform(const Math3D::RigidTransform& T,const char* frame="klampt_transform");

bool ROSSubscribeTransforms(WorldModel& world,const char* frameprefix="klampt");
bool ROSSubscribeTransforms(RobotModel& robot,const char* frameprefix="klampt");
bool ROSSubscribeTransform(Math3D::RigidTransform& T,const char* frameprefix="klampt_transform");

} //namespace Klampt

#endif