laser_scan_publisher.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #include <ros/ros.h>
00038 #include <sensor_msgs/LaserScan.h>
00039 
00040 int main(int argc, char** argv){
00041   ros::init(argc, argv, "laser_scan_publisher");
00042 
00043   ros::NodeHandle n;
00044   ros::Publisher scan_pub = n.advertise<sensor_msgs::LaserScan>("scan", 50);
00045 
00046   unsigned int num_readings = 100;
00047   double laser_frequency = 40;
00048   double ranges[num_readings];
00049   double intensities[num_readings];
00050 
00051   int count = 0;
00052   ros::Rate r(1.0);
00053   while(n.ok()){
00054     //generate some fake data for our laser scan
00055     for(unsigned int i = 0; i < num_readings; ++i){
00056       ranges[i] = count;
00057       intensities[i] = 100 + count;
00058     }
00059     ros::Time scan_time = ros::Time::now();
00060 
00061     //populate the LaserScan message
00062     sensor_msgs::LaserScan scan;
00063     scan.header.stamp = scan_time;
00064     scan.header.frame_id = "laser_frame";
00065     scan.angle_min = -1.57;
00066     scan.angle_max = 1.57;
00067     scan.angle_increment = 3.14 / num_readings;
00068     scan.time_increment = (1 / laser_frequency) / (num_readings);
00069     scan.range_min = 0.0;
00070     scan.range_max = 100.0;
00071 
00072     scan.ranges.resize(num_readings);
00073     scan.intensities.resize(num_readings);
00074     for(unsigned int i = 0; i < num_readings; ++i){
00075       scan.ranges[i] = ranges[i];
00076       scan.intensities[i] = intensities[i];
00077     }
00078 
00079     scan_pub.publish(scan);
00080     ++count;
00081     r.sleep();
00082   }
00083 }


laser_scan_publisher_tutorial
Author(s): Eitan Marder-Eppstein
autogenerated on Thu Jan 2 2014 11:32:05