laserscanner_mild.cpp

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#include "Laserscanner/laserscanner_mild.h"

Laserscanner_MILD::Laserscanner_MILD() : Abstract_LaserScanner()
{
    calibration_starting_angle = -90;
    calibration_angle_spread = 180;
    calibration_scan_values = 360;
}

void Laserscanner_MILD::laserScanCallback(const sensor_msgs::LaserScan::ConstPtr& msg)
{
    newData(msg);
}

void Laserscanner_MILD::run()
{
    active = true;
    ros::NodeHandle n;
    a = n.subscribe("scan", 1000, &Laserscanner_MILD::laserScanCallback, this);
    while (active)
    {
        ros::spinOnce();
    }
    n.shutdown();
    std::cout << "Scanner stopped..." << std::endl;
}

void Laserscanner_MILD::stop()
{
    active = false;
}