CloudPublisher()
: tf_frame("/base_link"),
private_nh("~")
{
cloud_topic = "cloud";
pub.advertise(nh, cloud_topic.c_str(), 1);
private_nh.param("frame_id", tf_frame, std::string("/base_link"));
ROS_INFO_STREAM("Publishing data on topic \"" << nh.resolveName(cloud_topic) << "\" with frame_id \"" << tf_frame << "\"");
}
SegmentDifferencesNode (ros::NodeHandle &n) : nh_(n)
{
// Maximum number of outgoing messages to be queued for delivery to subscribers = 1
nh_.param("input_cloud_topic", input_cloud_topic_, std::string("/cloud_pcd"));
nh_.param("output_cloud_topic", output_cloud_topic_, std::string("difference"));
nh_.param("output_filtered_cloud_topic", output_filtered_cloud_topic_, std::string("difference_filtered"));
nh_.param("distance_threshold", distance_threshold_, 0.0005);
ROS_INFO ("Distance threshold set to %lf.", distance_threshold_);
pub_diff_.advertise (nh_, output_cloud_topic_.c_str (), 1);
ROS_INFO ("Publishing data on topic %s.", nh_.resolveName (output_cloud_topic_).c_str ());
pub_filtered_.advertise (nh_, output_filtered_cloud_topic_.c_str (), 1);
ROS_INFO ("Publishing data on topic %s.", nh_.resolveName (output_filtered_cloud_topic_).c_str ());
sub_.subscribe (nh_, input_cloud_topic_, 1, boost::bind (&SegmentDifferencesNode::cloud_cb, this, _1));
ROS_INFO ("Listening for incoming data on topic %s", nh_.resolveName (input_cloud_topic_).c_str ());
//set PCL classes
seg_.setDistanceThreshold (distance_threshold_);
rate_ = 1;
counter_ = 0;
}
