SnapMapICP: SnapMapICP: FreezeCloud2.cpp Source File

00001 /*
00002  * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
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 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 #include <ros/ros.h>
00031 
00032 #include <sensor_msgs/PointCloud2.h>
00033 #include <string>
00034 
00035 int main(int argc, char** argv)
00036 {
00037 
00038     // Init the ROS node
00039     ros::init(argc, argv, "freezecloud2");
00040 
00041         ROS_INFO("USAGE: FreezeCloud2 input_topic output_topic");
00042         ROS_INFO("Will wait for a PointCloud2 on input_topic and publish it once on output_topic");
00043     if (argc > 2) {
00044         ROS_INFO("input_topic %s output_topic %s", argv[1], argv[2]);
00045     } else {
00046         exit(0);
00047     }
00048 
00049     ros::NodeHandle nh_;
00050 
00051     ros::Rate loop_rate(10);
00052 
00053     sensor_msgs::PointCloud2 cloud2 = *(ros::topic::waitForMessage<sensor_msgs::PointCloud2>(argv[1]));
00054 
00055     ros::Publisher pub = nh_.advertise<sensor_msgs::PointCloud2> (std::string(argv[2]),1,true);
00056 
00057     pub.publish(cloud2);
00058     ROS_INFO("PUBLISHED");
00059     while (ros::ok())
00060     {
00061         loop_rate.sleep();
00062         ros::spinOnce();
00063     }
00064 
00065 }