dummy_scan_producer.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Vijay Pradeep */

#include <boost/thread.hpp>
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <sensor_msgs/LaserScan.h>
#include <pr2_msgs/LaserScannerSignal.h>


void runLoop()
{
  ros::NodeHandle nh;

  ros::Publisher scan_pub   = nh.advertise<sensor_msgs::LaserScan>("dummy_scan", 100);
  ros::Publisher signal_pub = nh.advertise<pr2_msgs::LaserScannerSignal>("dummy_signal", 100);
  ros::Rate loop_rate(20);

  // Configure the Transform broadcaster
  tf::TransformBroadcaster broadcaster;
  tf::Transform laser_transform(btQuaternion(0,0,0,1));

  // Populate the dummy laser scan
  sensor_msgs::LaserScan scan;
  scan.header.frame_id = "dummy_laser_link";
  scan.angle_min = 0.0;
  scan.angle_max = 99.0;
  scan.angle_increment = 1.0;
  scan.time_increment = .001;
  scan.scan_time = .05;
  scan.range_min = .01;
  scan.range_max = 100.0;

  const unsigned int N = 100;
  scan.ranges.resize(N);
  scan.intensities.resize(N);

  for (unsigned int i=0; i<N; i++)
  {
    scan.ranges[i] = 10.0;
    scan.intensities[i] = 10.0;
  }

  unsigned int cloud_count = 0;

  // Immeadiately send out a starting scan
  pr2_msgs::LaserScannerSignal signal;
  signal.header.stamp = scan.header.stamp;
  signal.signal = 1;
  signal_pub.publish(signal);

  // Loop for each cloud
  //while (nh.ok() & cloud_count < 1000)
  while (nh.ok())
  {
    unsigned int scan_count = 0;
    // Loop for each scan
    while (nh.ok() & scan_count < 10)
    {
      scan.header.stamp = ros::Time::now();
      scan_pub.publish(scan);
      broadcaster.sendTransform(tf::StampedTransform(laser_transform, scan.header.stamp, "dummy_laser_link", "dummy_base_link"));
      scan_count++;
      loop_rate.sleep();
    }

    signal.header.stamp = scan.header.stamp;
    signal.signal = cloud_count % 2;
    signal_pub.publish(signal);

    ROS_INFO("Done publishing cloud [%u]", cloud_count);
    cloud_count++;
  }
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "scan_producer");
  ros::NodeHandle nh;
  boost::thread run_thread(&runLoop);
  ros::spin();
  run_thread.join();
  return 0;
}