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include/ocs2_mobile_manipulator_ros/MobileManipulatorDummyVisualization.h

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+/******************************************************************************
+Copyright (c) 2020, Farbod Farshidian. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+ * Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+ * Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+
+#pragma once
+
+#include <robot_state_publisher/robot_state_publisher.h>
+#include <tf/transform_broadcaster.h>
+
+#include <ocs2_ros_interfaces/mrt/DummyObserver.h>
+
+#include <ocs2_mobile_manipulator/ManipulatorModelInfo.h>
+#include <ocs2_mobile_manipulator/MobileManipulatorInterface.h>
+#include <ocs2_self_collision_visualization/GeometryInterfaceVisualization.h>
+
+namespace ocs2 {
+namespace mobile_manipulator {
+
+class MobileManipulatorDummyVisualization final : public DummyObserver {
+ public:
+  MobileManipulatorDummyVisualization(ros::NodeHandle& nodeHandle, const MobileManipulatorInterface& interface)
+      : pinocchioInterface_(interface.getPinocchioInterface()), modelInfo_(interface.getManipulatorModelInfo()) {
+    launchVisualizerNode(nodeHandle);
+  }
+
+  ~MobileManipulatorDummyVisualization() override = default;
+
+  void update(const SystemObservation& observation, const PrimalSolution& policy, const CommandData& command) override;
+
+ private:
+  void launchVisualizerNode(ros::NodeHandle& nodeHandle);
+
+  void publishObservation(const ros::Time& timeStamp, const SystemObservation& observation);
+  void publishTargetTrajectories(const ros::Time& timeStamp, const TargetTrajectories& targetTrajectories);
+  void publishOptimizedTrajectory(const ros::Time& timeStamp, const PrimalSolution& policy);
+
+  PinocchioInterface pinocchioInterface_;
+  const ManipulatorModelInfo modelInfo_;
+  std::vector<std::string> removeJointNames_;
+
+  std::unique_ptr<robot_state_publisher::RobotStatePublisher> robotStatePublisherPtr_;
+  tf::TransformBroadcaster tfBroadcaster_;
+
+  ros::Publisher stateOptimizedPublisher_;
+  ros::Publisher stateOptimizedPosePublisher_;
+
+  std::unique_ptr<GeometryInterfaceVisualization> geometryVisualization_;
+};
+
+}  // namespace mobile_manipulator
+}  // namespace ocs2