IRI ROS Specific Algorithm Class. More...

#include <lasers_to_pointcloud_alg_node.h>

Inheritance diagram for LasersToPointcloudAlgNode:

Public Member Functions
	LasersToPointcloudAlgNode (void)
	Constructor.
	~LasersToPointcloudAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	scan1_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	scan2_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
Private Attributes
sensor_msgs::PointCloud2	cloud1_
sensor_msgs::PointCloud2	cloud2_
ros::Publisher	cloud_publisher_
uint	counter_
laser_geometry::LaserProjection	laser_projector_
bool	new_scan1_
bool	new_scan2_
sensor_msgs::PointCloud2	PointCloud2_msg_
CMutex	scan1_mutex_
ros::Subscriber	scan1_subscriber_
CMutex	scan2_mutex_
ros::Subscriber	scan2_subscriber_
tf::TransformListener	tfl_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 52 of file lasers_to_pointcloud_alg_node.h.

Constructor & Destructor Documentation

LasersToPointcloudAlgNode::LasersToPointcloudAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file lasers_to_pointcloud_alg_node.cpp.

LasersToPointcloudAlgNode::~LasersToPointcloudAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 29 of file lasers_to_pointcloud_alg_node.cpp.

Member Function Documentation

void LasersToPointcloudAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< LasersToPointcloudAlgorithm >.

Definition at line 114 of file lasers_to_pointcloud_alg_node.cpp.

void LasersToPointcloudAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< LasersToPointcloudAlgorithm >.

Definition at line 34 of file lasers_to_pointcloud_alg_node.cpp.

void LasersToPointcloudAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< LasersToPointcloudAlgorithm >.

Definition at line 107 of file lasers_to_pointcloud_alg_node.cpp.

void LasersToPointcloudAlgNode::scan1_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 88 of file lasers_to_pointcloud_alg_node.cpp.

void LasersToPointcloudAlgNode::scan2_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 76 of file lasers_to_pointcloud_alg_node.cpp.