dummy_scan_producer.cpp
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00034 
00035 /* Author: Vijay Pradeep */
00036 
00041 #include <boost/thread.hpp>
00042 #include <ros/ros.h>
00043 #include <tf/transform_broadcaster.h>
00044 #include <sensor_msgs/LaserScan.h>
00045 
00046 void runLoop()
00047 {
00048   ros::NodeHandle nh;
00049 
00050   ros::Publisher scan_pub   = nh.advertise<sensor_msgs::LaserScan>("dummy_scan", 100);
00051   ros::Rate loop_rate(5);
00052 
00053   // Configure the Transform broadcaster
00054   tf::TransformBroadcaster broadcaster;
00055   tf::Transform laser_transform(tf::Quaternion(0,0,0,1));
00056 
00057   // Populate the dummy laser scan
00058   sensor_msgs::LaserScan scan;
00059   scan.header.frame_id = "/dummy_laser_link";
00060   scan.angle_min = 0.0;
00061   scan.angle_max = 99.0;
00062   scan.angle_increment = 1.0;
00063   scan.time_increment = .001;
00064   scan.scan_time = .05;
00065   scan.range_min = .01;
00066   scan.range_max = 100.0;
00067 
00068   const unsigned int N = 100;
00069   scan.ranges.resize(N);
00070   scan.intensities.resize(N);
00071 
00072   for (unsigned int i=0; i<N; i++)
00073   {
00074     scan.ranges[i] = 10.0;
00075     scan.intensities[i] = 10.0;
00076   }
00077 
00078   // Keep sending scans until the assembler is done
00079   while (nh.ok())
00080   {
00081     scan.header.stamp = ros::Time::now();
00082     scan_pub.publish(scan);
00083     broadcaster.sendTransform(tf::StampedTransform(laser_transform, scan.header.stamp, "dummy_laser_link", "dummy_base_link"));
00084     loop_rate.sleep();
00085     ROS_INFO("Publishing scan");
00086   }
00087 }
00088 
00089 int main(int argc, char** argv)
00090 {
00091   ros::init(argc, argv, "scan_producer");
00092   ros::NodeHandle nh;
00093   boost::thread run_thread(&runLoop);
00094   ros::spin();
00095   run_thread.join();
00096   return 0;
00097 }


laser_assembler
Author(s): Vijay Pradeep
autogenerated on Fri Jan 3 2014 11:27:46