00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 */ 00030 00040 #include <sensor_msgs/LaserScan.h> 00041 #include <ros/ros.h> 00042 #include <boost/foreach.hpp> 00043 00044 00045 namespace turtlebot_graph_mapping 00046 { 00047 00048 namespace sm=sensor_msgs; 00049 00050 /************************************************************ 00051 * Class 00052 ***********************************************************/ 00053 00054 00055 class FilterScans 00056 { 00057 public: 00058 00059 FilterScans(); 00060 00061 private: 00062 00063 void scanCB (const sm::LaserScan& scan); 00064 00065 const double min_range_; 00066 const double max_range_; 00067 00068 ros::NodeHandle nh_; 00069 ros::Subscriber scan_sub_; 00070 ros::Publisher scan_pub_; 00071 00072 }; 00073 00074 /************************************************************ 00075 * Init 00076 ***********************************************************/ 00077 00078 FilterScans::FilterScans () : 00079 min_range_(0.6), max_range_(4.0), 00080 scan_sub_(nh_.subscribe("in", 20, &FilterScans::scanCB, this)), 00081 scan_pub_(nh_.advertise<sm::LaserScan>("out", 20)) 00082 { 00083 } 00084 00085 /************************************************************ 00086 * Scans 00087 ***********************************************************/ 00088 00089 void FilterScans::scanCB (const sm::LaserScan& scan) 00090 { 00091 sm::LaserScan out = scan; 00092 out.range_min = min_range_; 00093 out.range_max = max_range_; 00094 const unsigned l = scan.ranges.size(); 00095 for (unsigned i=0; i<l; i++) 00096 { 00097 if (out.ranges[i]<min_range_ || out.ranges[i]>max_range_) 00098 out.ranges[i] = max_range_+1; 00099 } 00100 00101 if (l==360) 00102 out.ranges.push_back(max_range_+1); 00103 else 00104 ROS_WARN_THROTTLE (1.0, "Unexpectedly, the scan from Karto has %u points instead of 360; not padding", l); 00105 00106 scan_pub_.publish(out); 00107 } 00108 00109 } // namespace 00110 00111 int main (int argc, char** argv) 00112 { 00113 ros::init(argc, argv, "filter_scans"); 00114 turtlebot_graph_mapping::FilterScans node; 00115 ros::spin(); 00116 return 0; 00117 }