neato_laser_publisher.cpp
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00034 
00035 #include <ros/ros.h>
00036 #include <sensor_msgs/LaserScan.h>
00037 #include <boost/asio.hpp>
00038 #include <xv_11_laser_driver/xv11_laser.h>
00039 #include <std_msgs/UInt16.h>
00040 
00041 int main(int argc, char **argv)
00042 {
00043   ros::init(argc, argv, "neato_laser_publisher");
00044   ros::NodeHandle n;
00045   ros::NodeHandle priv_nh("~");
00046 
00047   std::string port;
00048   int baud_rate;
00049   std::string frame_id;
00050   int firmware_number;
00051  
00052   std_msgs::UInt16 rpms; 
00053 
00054   priv_nh.param("port", port, std::string("/dev/ttyUSB0"));
00055   priv_nh.param("baud_rate", baud_rate, 115200);
00056   priv_nh.param("frame_id", frame_id, std::string("neato_laser"));
00057   priv_nh.param("firmware_version", firmware_number, 1);
00058 
00059   boost::asio::io_service io;
00060 
00061   try {
00062     xv_11_laser_driver::XV11Laser laser(port, baud_rate, firmware_number, io);
00063     ros::Publisher laser_pub = n.advertise<sensor_msgs::LaserScan>("scan", 1000);
00064     ros::Publisher motor_pub = n.advertise<std_msgs::UInt16>("rpms",1000);
00065 
00066     while (ros::ok()) {
00067       sensor_msgs::LaserScan::Ptr scan(new sensor_msgs::LaserScan);
00068       scan->header.frame_id = frame_id;
00069       scan->header.stamp = ros::Time::now();
00070       laser.poll(scan);
00071       rpms.data=laser.rpms;
00072       laser_pub.publish(scan);
00073       motor_pub.publish(rpms);
00074 
00075     }
00076     laser.close();
00077     return 0;
00078   } catch (boost::system::system_error ex) {
00079     ROS_ERROR("Error instantiating laser object. Are you sure you have the correct port and baud rate? Error was %s", ex.what());
00080     return -1;
00081   }
00082 }


xv_11_laser_driver
Author(s): Eric Perko, Chad Rockey, Rohan Agrawal, Steve 'dillo Okay
autogenerated on Thu Jun 6 2019 21:37:47