dense_laser_snapshotter.cpp

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#include "ros/ros.h"

#include <dense_laser_assembler/dense_laser_assembler.h>

// Messages
#include "sensor_msgs/LaserScan.h"
#include "calibration_msgs/DenseLaserSnapshot.h"
#include "pr2_msgs/LaserScannerSignal.h"

using namespace dense_laser_assembler ;

class DenseLaserSnapshotter
{

public:

  DenseLaserSnapshotter()
  {
    assembler_.setCacheSize(40*20);
    prev_signal_.header.stamp = ros::Time(0, 0);
    signal_sub_ = n_.subscribe("laser_tilt_controller/laser_scanner_signal", 2, &DenseLaserSnapshotter::scannerSignalCallback, this);
    scan_sub_ = n_.subscribe("scan", 1, &DenseLaserSnapshotter::scanCallback, this);
    snapshot_pub_ = n_.advertise<calibration_msgs::DenseLaserSnapshot> ("dense_laser_snapshot", 1);
    first_time_ = true;
  }

  ~DenseLaserSnapshotter()
  {

  }

  void scanCallback(const sensor_msgs::LaserScanConstPtr& scan)
  {
    assembler_.add(scan);
  }

  void scannerSignalCallback(const pr2_msgs::LaserScannerSignalConstPtr& cur_signal)
  {
    ROS_DEBUG("Got Scanner Signal") ;

    if (first_time_)
    {
      prev_signal_ = *cur_signal ;
      first_time_ = false ;
    }
    else
    {
      if (cur_signal->signal == 1)
      {
        ROS_DEBUG("About to make request");

        ros::Time start = prev_signal_.header.stamp;
        ros::Time end = cur_signal->header.stamp;

        calibration_msgs::DenseLaserSnapshot snapshot;

        assembler_.assembleSnapshot(start, end, snapshot);

        ROS_DEBUG("header.stamp: %f", snapshot.header.stamp.toSec());
        ROS_DEBUG("header.frame_id: %s", snapshot.header.frame_id.c_str());
        ROS_DEBUG("ranges.size()=%u", snapshot.ranges.size());
        ROS_DEBUG("intensities.size()=%u", snapshot.intensities.size());
        ROS_DEBUG("scan_start.size()=%u", snapshot.scan_start.size());
        snapshot_pub_.publish(snapshot);
      }
      else
        ROS_DEBUG("Not making request");
      prev_signal_ = *cur_signal;
    }
  }

private:
  ros::NodeHandle n_;
  ros::Publisher snapshot_pub_;
  ros::Subscriber signal_sub_;
  ros::Subscriber scan_sub_;
  DenseLaserAssembler assembler_;
  pr2_msgs::LaserScannerSignal prev_signal_;

  bool first_time_ ;
};

int main(int argc, char **argv)
{
  ros::init(argc, argv, "dense_laser_snapshotter") ;
  DenseLaserSnapshotter snapshotter ;
  ros::spin() ;

  return 0;
}