ROS_node.hpp

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#ifndef QTCTRL_ROS_NODE
#define QTCTRL_ROS_NODE

#include <string>
#include <fstream>
#include <QThread>
#include <QStringListModel>
#include <ctrl/controller.hpp>
// To workaround boost/qt4 problems that won't be bugfixed. Refer to
//    https://bugreports.qt.io/browse/QTBUG-22829
#ifndef Q_MOC_RUN
#include <ros/ros.h>
#include <tf/tf.h>
//#include <boost/python.hpp>
#endif
#include <nav_msgs/Odometry.h>     // odometry


using namespace ::ros::console::levels;

class ROSnode : public QThread {
  Q_OBJECT  // This macro is needed to handle signals

  int    ROS_argc;  
  char** ROS_argv;  

  Controller* motion_ctrl;
    
  ros::Publisher   cmd_publisher;
  
  ros::Subscriber   odom_subscriber;
  
  QStringListModel log_model;

  /*  DOES NOT WORK 
  std::string world_command_file[2]; */

  void ROSsetup(Controller& ctrl);

  void newOdometry(const nav_msgs::Odometry::ConstPtr& odom);

protected:
  void run();
  
public:
  typedef ::ros::console::Level LogLevel; 

  ROSnode(const int argc, char** argv) 
    : ROS_argc(argc), ROS_argv(argv), motion_ctrl(NULL) {}
  
  void end();

  bool connected() const { return (motion_ctrl != NULL); } 
  
  void init(Controller& ctrl)
  { ros::init(ROS_argc, ROS_argv, "qt_ctrl"); ROSsetup(ctrl); }
  
  void init(const std::string &master_url,
            const std::string &host_url, Controller& ctrl);

  QStringListModel& loggingModel() { return log_model; }

  std::string worldCommandFile(const bool empty = true) {
    // as the other method (cf ROSnode::ROSsetup) does not work...
    static const std::string world_command_file[2]
      = {"launch_empty_world.sh", "launch_world.sh"}; 
    return world_command_file[empty ? 0 : 1];
  }

  void log(const LogLevel &level, const std::string &msg);

Q_SIGNALS:  // this requires the Q_OBJECT macro
  void loggingUpdated();

}; // end of class ROSnode

#endif // QTCTRL_ROS_NODE