Class RosMsgpackPublisher

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class RosMsgpackPublisher : public sick_scansegment_xd::MsgPackExportListenerIF

Public Functions

RosMsgpackPublisher(const std::string &node_name = "sick_scansegment_xd", const sick_scansegment_xd::Config &config = sick_scansegment_xd::Config())
virtual ~RosMsgpackPublisher()
virtual bool initLFPangleRangeFilterSettings(const std::string &host_LFPangleRangeFilter)
virtual bool initLFPlayerFilterSettings(const std::string &host_LFPlayerFilter)
virtual void HandleMsgPackData(const sick_scansegment_xd::ScanSegmentParserOutput &msgpack_data)
virtual sick_scansegment_xd::MsgPackExportListenerIF *ExportListener(void)
inline virtual void SetActive(bool active)
inline virtual void GetFullframeAngleRanges(float &fullframe_azimuth_min_deg, float &fullframe_azimuth_max_deg, float &fullframe_elevation_min_deg, float &fullframe_elevation_max_deg) const

Protected Types

typedef std::map<int, std::map<int, ros_sensor_msgs::LaserScan>> LaserScanMsgMap

Protected Functions

void convertPointsToCustomizedFieldsCloud(uint32_t timestamp_sec, uint32_t timestamp_nsec, uint64_t lidar_timestamp_start_microsec, const std::vector<std::vector<sick_scansegment_xd::PointXYZRAEI32f>> &lidar_points, CustomPointCloudConfiguration &pointcloud_cfg, PointCloud2Msg &pointcloud_msg)
void convertPointsToLaserscanMsg(uint32_t timestamp_sec, uint32_t timestamp_nsec, const std::vector<std::vector<sick_scansegment_xd::PointXYZRAEI32f>> &lidar_points, size_t total_point_count, LaserScanMsgMap &laser_scan_msg_map, const std::string &frame_id, bool is_fullframe)
void publishPointCloud2Msg(rosNodePtr node, PointCloud2MsgPublisher &publisher, PointCloud2Msg &pointcloud_msg, int32_t num_echos, int32_t segment_idx, int coordinate_notation, const std::string &topic)

Shortcut to publish a PointCloud2Msg

void publishLaserScanMsg(rosNodePtr node, LaserscanMsgPublisher &laserscan_publisher, LaserScanMsgMap &laser_scan_msg_map, int32_t num_echos, int32_t segment_idx)

Shortcut to publish Laserscan messages

std::string printElevationAzimuthTable(const std::vector<std::vector<sick_scansegment_xd::PointXYZRAEI32f>> &lidar_points)

Shortcut to publish a PointCloud2Msg Prints (elevation,azimuth) values of all lidar points

std::string printCoverageTable(const std::map<int, std::map<int, int>> &elevation_azimuth_histograms)

Prints (elevation,azimuth) values of the coverage table of collected lidar points

Protected Attributes

bool m_active
rosNodePtr m_node
std::string m_frame_id
float m_all_segments_azimuth_min_deg = -180
float m_all_segments_azimuth_max_deg = +180
float m_all_segments_elevation_min_deg = 0
float m_all_segments_elevation_max_deg = 0
int m_host_FREchoFilter
bool m_host_set_FREchoFilter
SegmentPointsCollector m_points_collector
LaserscanMsgPublisher m_publisher_laserscan_360
LaserscanMsgPublisher m_publisher_laserscan_segment
ImuMsgPublisher m_publisher_imu
bool m_publisher_imu_initialized = false
double m_scan_time = 0
std::vector<int> m_laserscan_layer_filter
std::vector<CustomPointCloudConfiguration> m_custom_pointclouds_cfg
class SegmentPointsCollector

Public Functions

inline SegmentPointsCollector(int telegram_idx = 0)
inline void appendLidarPoints(const std::vector<std::vector<sick_scansegment_xd::PointXYZRAEI32f>> &points, int32_t segment_idx, int32_t telegram_cnt)
inline int32_t lastSegmentIdx()
inline bool allSegmentsCovered(float all_segments_azimuth_min_deg, float all_segments_azimuth_max_deg, float all_segments_elevation_min_deg, float all_segments_elevation_max_deg)
inline int numEchos(void) const

Public Members

uint32_t timestamp_sec
uint32_t timestamp_nsec
int32_t telegram_cnt
float min_azimuth
float max_azimuth
size_t total_point_count
uint64_t lidar_timestamp_start_microsec
uint64_t lidar_timestamp_stop_microsec
std::vector<std::vector<sick_scansegment_xd::PointXYZRAEI32f>> lidar_points
std::vector<int32_t> segment_list
std::vector<int32_t> telegram_list
std::map<int, std::map<int, int>> segment_coverage