int main(int argc, char **argv)
{
ros::init(argc, argv, "lazorzzz");
ros::NodeHandle nh;
setup();
ros::Subscriber sub = nh.subscribe("scan_throttle", 1, scan_cb);
pub = nh.advertise<std_msgs::Bool>("laser_obs", 1);
//----------------------------------------------------------------
scan_pub = nh.advertise<sensor_msgs::LaserScan>("scan2", 1);
scan_pub2 = nh.advertise<sensor_msgs::LaserScan>("scan3", 1);
scanout.ranges.resize(800); leaderless.ranges.resize(800);
//----------------------------------------------------------------
ros::Rate spin_rate(10);
//ros::spin();
while(ros::ok())
{
ros::spinOnce();
//spin_rate.sleep();
}
return 0;
}
void update()
{
ros::Rate spin_rate(10);
controller_->enable(); // enable the controller when loading the nodelet
while (! shutdown_requested_ && ros::ok())
{
controller_->spin();
spin_rate.sleep();
}
}
/// Reads the parameters given by the dynamic reconfigure server
/// and publishes corresponding sound messages.
int main(int argc, char** argv)
{
ros::init(argc, argv, "sound_sender");
// Create the dynamic reconfigure server.
typedef dynamic_reconfigure::Server<sound_sender::SoundSenderConfig>
ReconfigureServer;
ReconfigureServer reconfigure_server;
ReconfigureServer::CallbackType callback_function;
callback_function = boost::bind(&reconfigure_callback, _1, _2);
reconfigure_server.setCallback(callback_function);
// Create the sound message publisher.
ros::NodeHandle nh;
ros::Publisher publisher = nh.advertise<sound_msg::sound>("sound", 100);
// Publish messages and process reconfiguration requests.
ros::Rate spin_rate(10); // 10 Hz.
while (ros::ok())
{
// Create a sound message.
sound_msg::sound msg;
msg.header.stamp = ros::Time::now();
msg.header.frame_id = "/world";
msg.file = file;
msg.volume = volume;
msg.pitch = pitch;
msg.position.x = x;
msg.position.y = y;
msg.position.z = z;
msg.channel = file;
// Put the message in the publisher's queue.
if (new_sound || repeat)
{
publisher.publish(msg);
new_sound = false;
}
// Process messages and reconfigure requests.
ros::spinOnce();
spin_rate.sleep();
}
return EXIT_SUCCESS;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "depth_img_listener");
ros::NodeHandle nh;
setup();
cv::namedWindow("show"); cv::namedWindow("show2");
cv::startWindowThread(); cv::setMouseCallback("show", mouse_cb, NULL);
image_transport::ImageTransport it(nh);
image_transport::Subscriber d_sub = it.subscribe("camera/depth/image_rect", 1, depthCallback);
image_transport::Subscriber i_sub = it.subscribe("camera/rgb/image_raw", 1, imageCallback);
pub = nh.advertise<std_msgs::Bool>("kinect_obs", 1);
ros::Rate spin_rate(10);
while(ros::ok())
{
ros::spinOnce();
spin_rate.sleep();
}
cv::destroyWindow("show"); cv::destroyWindow("show2");
return 0;
}