LaserScanToPointCloud(ros::NodeHandle n) :
n_(n),
laser_sub_(n_, "/robot_1/base_scan", 10),
laser_notifier_(laser_sub_,listener_, "/robot_1/base_link", 10)
{
laser_notifier_.registerCallback(
boost::bind(&LaserScanToPointCloud::scanCallback, this, _1));
laser_notifier_.setTolerance(ros::Duration(0.01));
scan_pub_ = n_.advertise<sensor_msgs::PointCloud>("/my_cloud",1);
}
TrajGenerator(ros::NodeHandle nh) :
nh_(nh),
people_sub_(nh_,"people_tracker_measurements",10),
people_notifier_(people_sub_,tfl_,fixed_frame,10)
{
people_notifier_.registerCallback(boost::bind(&TrajGenerator::peopleCallback, this, _1));
people_notifier_.setTolerance(ros::Duration(0.01));
markers_pub_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker", 20);
}
LaserScanReceiver(ros::NodeHandle node, std::string tf, std::string topic) :
n(node),
base_tf(tf),
laser_topic(topic),
laser_sub(n, topic, 10),
laser_notifier(laser_sub,listener, tf, 10)
{
laser_notifier.registerCallback(&LaserScanReceiver::scanCallback, this);
laser_notifier.setTolerance(ros::Duration(0.2));
laser_count = 0;
pcl_pub = node.advertise<sensor_msgs::PointCloud>("laser_pcl",1);
}
//Nodelet initialization
virtual void onInit()
{
ros::NodeHandle& nh = getNodeHandle();
ros::NodeHandle& private_nh = getPrivateNodeHandle();
private_nh.getParam("min_height", min_height_);
private_nh.getParam("max_height", max_height_);
private_nh.getParam("base_frame", baseFrame);
private_nh.getParam("laser_frame", laserFrame);
NODELET_INFO("CloudToScanHoriz min_height: %f, max_height: %f", min_height_, max_height_);
NODELET_INFO("CloudToScanHoriz baseFrame: %s, laserFrame: %s", baseFrame.c_str(), laserFrame.c_str());
//Set up to process new pointCloud and tf data together
cloudSubscriber.subscribe(nh, "cloud_in", 5);
tfFilter = new tf::MessageFilter<PointCloud>(cloudSubscriber, tfListener, laserFrame, 1);
tfFilter->registerCallback(boost::bind(&CloudToScanHoriz::callback, this, _1));
tfFilter->setTolerance(ros::Duration(0.05));
laserPublisher = nh.advertise<sensor_msgs::LaserScan>("laserScanHoriz", 10);
};
ScanToPointCloud2For2Lasers(ros::NodeHandle n) :
_nodeHandle(n),
target_frame("/rotary_base"),
_laser_sub(_nodeHandle, "/scan",300),
_laser_tfMessagefilter(_laser_sub, _tfListener, "/laser", 300),
producedPcdCount(0),
maxToProducePcdCount(5),
bRunning(true),
isSkipThisCloud(true), // set it to true to skip the first cloud
_the_last_1st_yaw(0),
_the_last_2nd_yaw(0)
{
_laser_tfMessagefilter.setTolerance(ros::Duration(0.1));
_laser_tfMessagefilter.registerCallback(boost::bind(&ScanToPointCloud2For2Lasers::scanCallback, this, _1));
_scan_pub = _nodeHandle.advertise<sensor_msgs::PointCloud2> ("/cloud", 100);
std::stringstream pid;
pid << getpid();
pcd_prefix = pid.str();
}
