00001 /* 00002 * 00003 * sicks300.h 00004 * 00005 * 00006 * Copyright (C) 2014 00007 * Software Engineering Group 00008 * RWTH Aachen University 00009 * 00010 * 00011 * Author: Dimitri Bohlender 00012 * 00013 * 00014 * This program is free software; you can redistribute it and/or modify 00015 * it under the terms of the GNU General Public License as published by 00016 * the Free Software Foundation; either version 3 of the License, or 00017 * (at your option) any later version. 00018 * 00019 * This program is distributed in the hope that it will be useful, 00020 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00021 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00022 * GNU General Public License for more details. 00023 * 00024 * You should have received a copy of the GNU General Public License 00025 * along with this program; if not, write to the Free Software 00026 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00027 * 00028 * 00029 * Origin: 00030 * Copyright (C) 2010 00031 * Andreas Hochrath, Torsten Fiolka 00032 * Autonomous Intelligent Systems Group 00033 * University of Bonn, Germany 00034 * 00035 * Player - One Hell of a Robot Server 00036 * serialstream.cc & sicks3000.cc 00037 * Copyright (C) 2003 00038 * Brian Gerkey 00039 * Copyright (C) 2000 00040 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard 00041 * 00042 */ 00043 00044 #ifndef __SICKS300_H__ 00045 #define __SICKS300_H__ 00046 00047 #include "serialcomm_s300.h" 00048 00049 #include <string> 00050 00051 #include <ros/ros.h> 00052 #include <sensor_msgs/LaserScan.h> 00053 #include <tf/transform_broadcaster.h> 00054 00062 class SickS300 00063 { 00064 public: 00065 00066 SickS300(); 00067 ~SickS300(); 00068 00070 void update(); 00071 00073 void broadcast_transform(); 00074 00075 protected: 00076 00078 SerialCommS300 serial_comm_; 00079 00080 sensor_msgs::LaserScan scan_data_; 00081 ros::Publisher scan_data_publisher_; 00082 00083 tf::TransformBroadcaster tf_broadcaster_; 00084 tf::Vector3 transform_vector_; 00085 00087 bool reduced_FOV_; 00088 00090 bool send_transform_; 00091 00092 std::string device_name_; 00093 int baud_rate_; 00094 int connected_; 00095 }; 00096 00097 #endif // __SICKS300_H__