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 << "\""); }
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; }