point_cloud_assembler_srv.cpp
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00034 
00035 
00036 #include "laser_assembler/base_assembler_srv.h"
00037 
00038 
00039 using namespace std;
00040 
00041 namespace laser_assembler
00042 {
00043 
00050 class PointCloudAssemblerSrv : public BaseAssemblerSrv<sensor_msgs::PointCloud>
00051 {
00052 public:
00053   PointCloudAssemblerSrv()
00054   {
00055 
00056   }
00057 
00058   ~PointCloudAssemblerSrv()
00059   {
00060 
00061   }
00062 
00063   unsigned int GetPointsInScan(const sensor_msgs::PointCloud& scan)
00064   {
00065     return scan.points.size() ;
00066   }
00067 
00068   void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::PointCloud& scan_in, sensor_msgs::PointCloud& cloud_out)
00069   {
00070     tf_->transformPointCloud(fixed_frame_id, scan_in, cloud_out) ;
00071     return ;
00072   }
00073 
00074 private:
00075 
00076 };
00077 
00078 }
00079 
00080 using namespace laser_assembler ;
00081 
00082 int main(int argc, char **argv)
00083 {
00084   ros::init(argc, argv, "point_cloud_assembler");
00085   ros::NodeHandle n;
00086   ROS_WARN("The point_cloud_assembler_srv is deprecated. Please switch to "
00087            "using the laser_scan_assembler. Documentation is available at "
00088            "http://www.ros.org/wiki/laser_assembler");
00089   PointCloudAssemblerSrv pc_assembler;
00090   pc_assembler.start() ;
00091   ros::spin();
00092 
00093   return 0;
00094 }


laser_assembler
Author(s): Vijay Pradeep
autogenerated on Thu Aug 27 2015 13:47:32