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);
 }
Пример #2
0
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);

	}
Пример #4
0
			//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);
			};
Пример #5
0
	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();

	}