ROS.h

#ifndef IO_ROS_H
#define IO_ROS_H

#include <vector>
#include <KrisLibrary/math3d/primitives.h>
//forward declarations
namespace Meshing { class PointCloud3D; }
class RobotWorld;
class Robot;
class ControlledRobotSimulator;
class WorldSimulation;
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 Robot& 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 Robot& robot,const LinearPath& path,const char* topic="klampt/trajectory");
bool ROSPublishTrajectory(const Robot& robot,const std::vector<int>& indices,const LinearPath& path,const char* topic="klampt/trajectory");
bool ROSPublishCommandedJointState(ControlledRobotSimulator& robot,const char* topic="klampt/joint_state_commanded");
bool ROSPublishSensedJointState(ControlledRobotSimulator& robot,const char* topic="klampt/joint_state_sensed");
bool ROSPublishSensorMeasurement(const SensorBase* sensor,const char* topic="klampt/sensor");
bool ROSPublishSensorMeasurement(const SensorBase* sensor,const Robot& robot,const char* topic="klampt/sensor",const char* frameprefix="klampt");

bool ROSSubscribePose(Math3D::RigidTransform& T,const char* topic="klampt/joint_state");
bool ROSSubscribeJointState(Robot& 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(Robot& robot,LinearPath& path,const char* topic="klampt/trajectory");

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

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

#endif