test_scan.cpp
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00001 /*
00002  * Copyright (c) 2010 Oscar Martinez Mozos <omozos@googlemail.com> 
00003  * Dejan Pangercic <pangercic -=- cs.tum.edu> (ROS maintaniner)
00004  *
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *     * Redistributions of source code must retain the above copyright
00011  *       notice, this list of conditions and the following disclaimer.
00012  *     * Redistributions in binary form must reproduce the above copyright
00013  *       notice, this list of conditions and the following disclaimer in the
00014  *       documentation and/or other materials provided with the distribution.
00015  *
00016  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00017  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00018  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00019  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00020  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00021  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00022  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00023  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00024  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00026  * POSSIBILITY OF SUCH DAMAGE.
00027  *
00028  *
00029  */
00030 
00043 //standards
00044 #include <iostream>
00045 #include <float.h>
00046 
00047 //ROS
00048 #include <ros/ros.h>
00049 #include <ros/node_handle.h>
00050 #include <sensor_msgs/LaserScan.h>
00051 
00052 using namespace std;
00053 
00054 
00055 class TestNode 
00056 {
00057 public:
00058   ros::NodeHandle nh_;
00059   //Subscribers/Publishers
00060   ros::Subscriber scan_;
00061   //Parameters
00062   string input_scan_topic_;
00063   int scan_id_; // identifier for the scans
00064   
00065 
00069   TestNode() : nh_("~")
00070   {
00071     nh_.param("input_scan_topic", input_scan_topic_, std::string("/shoulder_scan"));
00072     scan_ = nh_.subscribe<sensor_msgs::LaserScan>(input_scan_topic_, 10, &TestNode::scan_cb, this);
00073   }
00074   
00078   ~TestNode()
00079   {
00080   }
00081 
00086   void scan_cb(const sensor_msgs::LaserScan::ConstPtr &msg)
00087   {
00088     ROS_INFO("Intensities and Ranges size: %ld | %ld", msg->ranges.size(), msg->intensities.size());
00089    }
00090   //end TestNode
00091 
00092 };
00093   
00094 
00095 /* ---[ */
00096 int main (int argc, char** argv)
00097 {
00098                 
00099   ros::init (argc, argv, "test_node");
00100   TestNode lg_node;
00101   ros::spin ();
00102   return (0);
00103 }
00104 /* ]--- */
00105 


people_detector_node
Author(s): Oscar Martinez Mozos, Dejan Pangercic(ROS)
autogenerated on Mon Oct 6 2014 08:55:11