laser_scan_publisher.cpp
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #include <ros/ros.h> 00038 #include <sensor_msgs/LaserScan.h> 00039 00040 int main(int argc, char** argv){ 00041 ros::init(argc, argv, "laser_scan_publisher"); 00042 00043 ros::NodeHandle n; 00044 ros::Publisher scan_pub = n.advertise<sensor_msgs::LaserScan>("scan", 50); 00045 00046 unsigned int num_readings = 100; 00047 double laser_frequency = 40; 00048 double ranges[num_readings]; 00049 double intensities[num_readings]; 00050 00051 int count = 0; 00052 ros::Rate r(1.0); 00053 while(n.ok()){ 00054 //generate some fake data for our laser scan 00055 for(unsigned int i = 0; i < num_readings; ++i){ 00056 ranges[i] = count; 00057 intensities[i] = 100 + count; 00058 } 00059 ros::Time scan_time = ros::Time::now(); 00060 00061 //populate the LaserScan message 00062 sensor_msgs::LaserScan scan; 00063 scan.header.stamp = scan_time; 00064 scan.header.frame_id = "laser_frame"; 00065 scan.angle_min = -1.57; 00066 scan.angle_max = 1.57; 00067 scan.angle_increment = 3.14 / num_readings; 00068 scan.time_increment = (1 / laser_frequency) / (num_readings); 00069 scan.range_min = 0.0; 00070 scan.range_max = 100.0; 00071 00072 scan.set_ranges_size(num_readings); 00073 scan.set_intensities_size(num_readings); 00074 for(unsigned int i = 0; i < num_readings; ++i){ 00075 scan.ranges[i] = ranges[i]; 00076 scan.intensities[i] = intensities[i]; 00077 } 00078 00079 scan_pub.publish(scan); 00080 ++count; 00081 r.sleep(); 00082 } 00083 }