int main(int argc, char** argv) { ros::init(argc, argv, "buffer_server_test"); tf2::Buffer buffer; tf2::TransformListener tfl(buffer); tf2::BufferServer server(buffer, "tf_action"); ros::spin(); }
int main(int argc, char** argv) { ros::init(argc, argv, "scan2pcl"); ros::NodeHandle n; tf::TransformListener tfl(n); gTfListener = &tfl; laser_geometry::LaserProjection projector; gProjector = &projector; ros::Subscriber scanSub = n.subscribe<sensor_msgs::LaserScan> ("/scan", 100, &scanCallback); ros::Publisher cloudPub = n.advertise<sensor_msgs::PointCloud2> ("/cloud", 100, false); gCloudPublisher = &cloudPub; ros::spin(); return 0; }