simulate_scans.cpp File Reference

#include <sensor_msgs/LaserScan.h>
#include <occupancy_grid_utils/ray_tracer.h>
#include <occupancy_grid_utils/file.h>
#include <tf/transform_listener.h>
#include <ros/ros.h>
#include <boost/foreach.hpp>
#include <boost/lexical_cast.hpp>

Include dependency graph for simulate_scans.cpp:

Go to the source code of this file.

Classes
class	flirtlib_ros::ScanSimulator
Namespaces
namespace	flirtlib_ros
Functions
template<class T >
T	flirtlib_ros::getPrivateParam (const string &name)
sm::LaserScan	flirtlib_ros::getScannerParams ()
int	main (int argc, char **argv)

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Detailed Description

Ros node that loads a map, then simulates scans based on the positions of a set of tf frames, one per laser. Essentially does what stage does without needing to bring up a sim, and with more control over the scan generation.

Expects:

• tf with transforms from laser frames to global frame

Publishes:

• the loaded occupancy grid
• scan0, scan1, ... (one for each laser frame)

Author:

Bhaskara Marthi

Definition in file simulate_scans.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 166 of file simulate_scans.cpp.