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Publish stall state of the robot #42

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Publish stall state of the robot #42

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16 changes: 11 additions & 5 deletions src/stageros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
#include <rosgraph_msgs/Clock.h>
#include <std_msgs/Int8.h>

#include <std_srvs/Empty.h>

Expand All @@ -61,6 +62,7 @@
#define BASE_SCAN "base_scan"
#define BASE_POSE_GROUND_TRUTH "base_pose_ground_truth"
#define CMD_VEL "cmd_vel"
#define STALLED "stalled"

// Our node
class StageNode
Expand Down Expand Up @@ -89,6 +91,7 @@ class StageNode
//ros publishers
ros::Publisher odom_pub; //one odom
ros::Publisher ground_truth_pub; //one ground truth
ros::Publisher stall_pub; // stall publisher

std::vector<ros::Publisher> image_pubs; //multiple images
std::vector<ros::Publisher> depth_pubs; //multiple depths
Expand Down Expand Up @@ -354,7 +357,8 @@ StageNode::SubscribeModels()
new_robot->odom_pub = n_.advertise<nav_msgs::Odometry>(mapName(ODOM, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
new_robot->ground_truth_pub = n_.advertise<nav_msgs::Odometry>(mapName(BASE_POSE_GROUND_TRUTH, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
new_robot->cmdvel_sub = n_.subscribe<geometry_msgs::Twist>(mapName(CMD_VEL, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10, boost::bind(&StageNode::cmdvelReceived, this, r, _1));

new_robot->stall_pub = n_.advertise<std_msgs::Int8>(mapName(STALLED, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);

for (size_t s = 0; s < new_robot->lasermodels.size(); ++s)
{
if (new_robot->lasermodels.size() == 1)
Expand Down Expand Up @@ -503,13 +507,15 @@ StageNode::WorldCallback()
odom_msg.twist.twist.linear.y = v.y;
odom_msg.twist.twist.angular.z = v.a;

//@todo Publish stall on a separate topic when one becomes available
//this->odomMsgs[r].stall = this->positionmodels[r]->Stall();
//
odom_msg.header.frame_id = mapName("odom", r, static_cast<Stg::Model*>(robotmodel->positionmodel));
odom_msg.header.stamp = sim_time;

robotmodel->odom_pub.publish(odom_msg);

//publish current stall state
std_msgs::Int8 stall_msg;
stall_msg.data = robotmodel->positionmodel->Stalled();
robotmodel->stall_pub.publish(stall_msg);

// broadcast odometry transform
tf::Quaternion odomQ;
Expand Down