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 << "\"");
 }
Esempio n. 2
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  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;
  }