send_lots_of_points_node.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2011, 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 #include "ros/ros.h" 00031 #include "sensor_msgs/PointCloud.h" 00032 #include "math.h" 00033 00034 int main( int argc, char **argv ) 00035 { 00036 ros::init( argc, argv, "send_lots_of_points" ); 00037 00038 ros::NodeHandle nh; 00039 00040 ros::Publisher pub = nh.advertise<sensor_msgs::PointCloud>("lots_of_points", 100); 00041 ros::Rate loop_rate( 1000 ); 00042 00043 sensor_msgs::PointCloud msg; 00044 int width = 100; 00045 int length = 200; 00046 msg.points.resize( width * length ); 00047 msg.header.frame_id = "base_link"; 00048 00049 int count = 0; 00050 while( ros::ok() ) 00051 { 00052 msg.points.resize( width * length + (count % 2) ); 00053 00054 for( int x = 0; x < width; x++ ) 00055 { 00056 for( int y = 0; y < length; y++ ) 00057 { 00058 geometry_msgs::Point32 & point = msg.points[ x + y * width ]; 00059 point.x = float(x / 100.0); 00060 point.y = float(y / 100.0); 00061 // point.z = sinf( x / 100.0 + y / 100.0 + count / 100.0 ); 00062 point.z = ((x + y + count) % 100) / 100.0; 00063 } 00064 } 00065 if( count % 2 ) 00066 { 00067 msg.points[ width * length + 1 ].x = -.1; 00068 msg.points[ width * length + 1 ].y = -.1; 00069 msg.points[ width * length + 1 ].z = 1.1; 00070 } 00071 msg.header.seq = count; 00072 msg.header.stamp = ros::Time::now(); 00073 00074 pub.publish( msg ); 00075 00076 ros::spinOnce(); 00077 loop_rate.sleep(); 00078 ++count; 00079 } 00080 }