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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: bag_io.cpp 34896 2010-12-19 06:21:42Z rusu $ 00035 * 00036 */ 00037 00038 #include <pluginlib/class_list_macros.h> 00039 #include "pcl_ros/io/bag_io.h" 00040 00042 bool 00043 pcl_ros::BAGReader::open (const std::string &file_name, const std::string &topic_name) 00044 { 00045 try 00046 { 00047 bag_.open (file_name, rosbag::bagmode::Read); 00048 view_.addQuery (bag_, rosbag::TopicQuery (topic_name)); 00049 00050 if (view_.size () == 0) 00051 return (false); 00052 00053 it_ = view_.begin (); 00054 } 00055 catch (rosbag::BagException &e) 00056 { 00057 return (false); 00058 } 00059 return (true); 00060 } 00061 00063 void 00064 pcl_ros::BAGReader::onInit () 00065 { 00066 boost::shared_ptr<ros::NodeHandle> pnh_; 00067 pnh_.reset (new ros::NodeHandle (getMTPrivateNodeHandle ())); 00068 // ---[ Mandatory parameters 00069 if (!pnh_->getParam ("file_name", file_name_)) 00070 { 00071 NODELET_ERROR ("[onInit] Need a 'file_name' parameter to be set before continuing!"); 00072 return; 00073 } 00074 if (!pnh_->getParam ("topic_name", topic_name_)) 00075 { 00076 NODELET_ERROR ("[onInit] Need a 'topic_name' parameter to be set before continuing!"); 00077 return; 00078 } 00079 // ---[ Optional parameters 00080 int max_queue_size = 1; 00081 pnh_->getParam ("publish_rate", publish_rate_); 00082 pnh_->getParam ("max_queue_size", max_queue_size); 00083 00084 ros::Publisher pub_output = pnh_->advertise<sensor_msgs::PointCloud2> ("output", max_queue_size); 00085 00086 NODELET_DEBUG ("[onInit] Nodelet successfully created with the following parameters:\n" 00087 " - file_name : %s\n" 00088 " - topic_name : %s", 00089 file_name_.c_str (), topic_name_.c_str ()); 00090 00091 if (!open (file_name_, topic_name_)) 00092 return; 00093 PointCloud output; 00094 output_ = boost::make_shared<PointCloud> (output); 00095 output_->header.stamp = ros::Time::now (); 00096 00097 // Continous publishing enabled? 00098 while (pnh_->ok ()) 00099 { 00100 PointCloudConstPtr cloud = getNextCloud (); 00101 NODELET_DEBUG ("Publishing data (%d points) on topic %s in frame %s.", output_->width * output_->height, pnh_->resolveName ("output").c_str (), output_->header.frame_id.c_str ()); 00102 output_->header.stamp = ros::Time::now (); 00103 00104 pub_output.publish (output_); 00105 00106 ros::Duration (publish_rate_).sleep (); 00107 ros::spinOnce (); 00108 } 00109 } 00110 00111 typedef pcl_ros::BAGReader BAGReader; 00112 PLUGINLIB_DECLARE_CLASS (pcl, BAGReader, BAGReader, nodelet::Nodelet); 00113