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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, 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: test_bagread_publish.cpp 33326 2010-10-15 06:10:24Z rusu $ 00035 * 00036 */ 00037 00042 #include <ros/ros.h> 00043 #include "pcl_ros/io/bag_io.h" 00044 00045 int 00046 main (int argc, char** argv) 00047 { 00048 ros::init (argc, argv, "test_bagread_publish"); 00049 ros::NodeHandle n; 00050 00051 if (argc != 3) 00052 { 00053 ROS_ERROR ("USAGE: %s <file_name> <frequency in seconds>", argv[0]); 00054 return (-1); 00055 } 00056 00057 std::string file_name = argv[1]; 00058 double frequency = atof (argv[2]); 00059 ROS_INFO ("Publishing messages with a frequency of %f Hertz.", frequency); 00060 ros::Publisher pub = n.advertise<sensor_msgs::PointCloud2>("pcl_ros/test_bagreader", 1); 00061 00062 pcl_ros::BAGReader reader; 00063 if (!reader.open (file_name, "/narrow_stereo_textured/points2")) 00064 { 00065 ROS_ERROR ("Couldn't open %s for reading!", file_name.c_str ()); 00066 return (-1); 00067 } 00068 00069 // Wait until a client subscribes 00070 while (pub.getNumSubscribers () < 1) { ros::Duration (0.1).sleep (); } 00071 00072 ros::Duration d (frequency); 00073 00074 // Send 4 packages 00075 int i = 0; 00076 while (i < 4) 00077 { 00078 sensor_msgs::PointCloud2ConstPtr cloud = reader.getNextCloud (); 00079 ROS_INFO ("Publishing %zu data...", cloud->data.size ()); 00080 pub.publish (cloud); 00081 ++i; 00082 d.sleep (); 00083 } 00084 00085 return (0); 00086 }