test_bagread_publish.cpp

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 * $Id: test_bagread_publish.cpp 33326 2010-10-15 06:10:24Z rusu $
 *
 */

#include <ros/ros.h>
#include "pcl_ros/io/bag_io.h"

int
  main (int argc, char** argv)
{
  ros::init (argc, argv, "test_bagread_publish");
  ros::NodeHandle n;

  if (argc != 3)
  {
    ROS_ERROR ("USAGE: %s <file_name> <frequency in seconds>", argv[0]);
    return (-1);
  }

  std::string file_name = argv[1];
  double frequency = atof (argv[2]);
  ROS_INFO ("Publishing messages with a frequency of %f Hertz.", frequency);
  ros::Publisher pub = n.advertise<sensor_msgs::PointCloud2>("pcl_ros/test_bagreader", 1);

  pcl_ros::BAGReader reader;
  if (!reader.open (file_name, "/narrow_stereo_textured/points2"))
  {
    ROS_ERROR ("Couldn't open %s for reading!", file_name.c_str ());
    return (-1);
  }

  // Wait until a client subscribes
  while (pub.getNumSubscribers () < 1) { ros::Duration (0.1).sleep (); }
  
  ros::Duration d (frequency);

  // Send 4 packages
  int i = 0;
  while (i < 4)
  {
    sensor_msgs::PointCloud2ConstPtr cloud = reader.getNextCloud ();
    ROS_INFO ("Publishing %zu data...", cloud->data.size ());
    pub.publish (cloud);
    ++i;
    d.sleep ();
  }

  return (0);
}