#include <scan_unifier_node.h>

Classes
struct	config_struct
	This structure holds configuration parameters. More...
Public Member Functions
void	getParams ()
	function to load parameters from ros parameter server
	ScanUnifierNode ()
bool	unifyLaserScans (std::vector< sensor_msgs::LaserScan::ConstPtr > current_scans, sensor_msgs::LaserScan &unified_scan)
	unifie the scan information from all laser scans in vec_laser_struct_
	~ScanUnifierNode ()
Public Attributes
tf::TransformListener	listener_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
laser_geometry::LaserProjection	projector_
ros::Publisher	topicPub_LaserUnified_
Private Member Functions
void	messageFilterCallback (const sensor_msgs::LaserScan::ConstPtr &first_scanner, const sensor_msgs::LaserScan::ConstPtr &second_scanner)
void	messageFilterCallback (const sensor_msgs::LaserScan::ConstPtr &first_scanner, const sensor_msgs::LaserScan::ConstPtr &second_scanner, const sensor_msgs::LaserScan::ConstPtr &third_scanner)
void	messageFilterCallback (const sensor_msgs::LaserScan::ConstPtr &first_scanner, const sensor_msgs::LaserScan::ConstPtr &second_scanner, const sensor_msgs::LaserScan::ConstPtr &third_scanner, const sensor_msgs::LaserScan::ConstPtr &fourth_scanner)
Private Attributes
config_struct	config_
std::string	frame_
std::vector < message_filters::Subscriber < sensor_msgs::LaserScan > * >	message_filter_subscribers_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::LaserScan, sensor_msgs::LaserScan > > *	synchronizer2_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan > > *	synchronizer3_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan > > *	synchronizer4_

Detailed Description

Definition at line 46 of file scan_unifier_node.h.

Constructor & Destructor Documentation

ScanUnifierNode::ScanUnifierNode ( )

Definition at line 21 of file scan_unifier_node.cpp.

ScanUnifierNode::~ScanUnifierNode ( )

Definition at line 96 of file scan_unifier_node.cpp.

Member Function Documentation

void ScanUnifierNode::getParams ( )

function to load parameters from ros parameter server

getParams input: - output: -

Definition at line 113 of file scan_unifier_node.cpp.

void ScanUnifierNode::messageFilterCallback	(	const sensor_msgs::LaserScan::ConstPtr &	first_scanner,
		const sensor_msgs::LaserScan::ConstPtr &	second_scanner
	)		`[private]`

Definition at line 136 of file scan_unifier_node.cpp.

void ScanUnifierNode::messageFilterCallback	(	const sensor_msgs::LaserScan::ConstPtr &	first_scanner,
		const sensor_msgs::LaserScan::ConstPtr &	second_scanner,
		const sensor_msgs::LaserScan::ConstPtr &	third_scanner
	)		`[private]`

Definition at line 152 of file scan_unifier_node.cpp.

void ScanUnifierNode::messageFilterCallback	(	const sensor_msgs::LaserScan::ConstPtr &	first_scanner,
		const sensor_msgs::LaserScan::ConstPtr &	second_scanner,
		const sensor_msgs::LaserScan::ConstPtr &	third_scanner,
		const sensor_msgs::LaserScan::ConstPtr &	fourth_scanner
	)		`[private]`