void runLoop()
{
ros::NodeHandle nh;
ros::Publisher scan_pub = nh.advertise<sensor_msgs::LaserScan>("dummy_scan", 100);
ros::Rate loop_rate(5);
// Configure the Transform broadcaster
tf::TransformBroadcaster broadcaster;
tf::Transform laser_transform(tf::Quaternion(0,0,0,1));
// Populate the dummy laser scan
sensor_msgs::LaserScan scan;
scan.header.frame_id = "/dummy_laser_link";
scan.angle_min = 0.0;
scan.angle_max = 99.0;
scan.angle_increment = 1.0;
scan.time_increment = .001;
scan.scan_time = .05;
scan.range_min = .01;
scan.range_max = 100.0;
const unsigned int N = 100;
scan.ranges.resize(N);
scan.intensities.resize(N);
for (unsigned int i=0; i<N; i++)
{
scan.ranges[i] = 10.0;
scan.intensities[i] = 10.0;
}
// Keep sending scans until the assembler is done
while (nh.ok())
{
scan.header.stamp = ros::Time::now();
scan_pub.publish(scan);
broadcaster.sendTransform(tf::StampedTransform(laser_transform, scan.header.stamp, "dummy_laser_link", "dummy_base_link"));
loop_rate.sleep();
ROS_INFO("Publishing scan");
}
}
void runLoop()
{
ros::NodeHandle nh;
ros::Publisher scan_pub = nh.advertise<sensor_msgs::LaserScan>("dummy_scan", 100);
ros::Publisher signal_pub = nh.advertise<pr2_msgs::LaserScannerSignal>("dummy_signal", 100);
ros::Rate loop_rate(20);
// Configure the Transform broadcaster
tf::TransformBroadcaster broadcaster;
tf::Transform laser_transform(btQuaternion(0,0,0,1));
// Populate the dummy laser scan
sensor_msgs::LaserScan scan;
scan.header.frame_id = "dummy_laser_link";
scan.angle_min = 0.0;
scan.angle_max = 99.0;
scan.angle_increment = 1.0;
scan.time_increment = .001;
scan.scan_time = .05;
scan.range_min = .01;
scan.range_max = 100.0;
const unsigned int N = 100;
scan.ranges.resize(N);
scan.intensities.resize(N);
for (unsigned int i=0; i<N; i++)
{
scan.ranges[i] = 10.0;
scan.intensities[i] = 10.0;
}
unsigned int cloud_count = 0;
// Immeadiately send out a starting scan
pr2_msgs::LaserScannerSignal signal;
signal.header.stamp = scan.header.stamp;
signal.signal = 1;
signal_pub.publish(signal);
// Loop for each cloud
//while (nh.ok() & cloud_count < 1000)
while (nh.ok())
{
unsigned int scan_count = 0;
// Loop for each scan
while (nh.ok() & scan_count < 10)
{
scan.header.stamp = ros::Time::now();
scan_pub.publish(scan);
broadcaster.sendTransform(tf::StampedTransform(laser_transform, scan.header.stamp, "dummy_laser_link", "dummy_base_link"));
scan_count++;
loop_rate.sleep();
}
signal.header.stamp = scan.header.stamp;
signal.signal = cloud_count % 2;
signal_pub.publish(signal);
ROS_INFO("Done publishing cloud [%u]", cloud_count);
cloud_count++;
}
}
