00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Vijay Pradeep */ 00036 00041 #include <boost/thread.hpp> 00042 #include <ros/ros.h> 00043 #include <tf/transform_broadcaster.h> 00044 #include <sensor_msgs/LaserScan.h> 00045 00046 void runLoop() 00047 { 00048 ros::NodeHandle nh; 00049 00050 ros::Publisher scan_pub = nh.advertise<sensor_msgs::LaserScan>("dummy_scan", 100); 00051 ros::Rate loop_rate(5); 00052 00053 // Configure the Transform broadcaster 00054 tf::TransformBroadcaster broadcaster; 00055 tf::Transform laser_transform(tf::Quaternion(0,0,0,1)); 00056 00057 // Populate the dummy laser scan 00058 sensor_msgs::LaserScan scan; 00059 scan.header.frame_id = "/dummy_laser_link"; 00060 scan.angle_min = 0.0; 00061 scan.angle_max = 99.0; 00062 scan.angle_increment = 1.0; 00063 scan.time_increment = .001; 00064 scan.scan_time = .05; 00065 scan.range_min = .01; 00066 scan.range_max = 100.0; 00067 00068 const unsigned int N = 100; 00069 scan.ranges.resize(N); 00070 scan.intensities.resize(N); 00071 00072 for (unsigned int i=0; i<N; i++) 00073 { 00074 scan.ranges[i] = 10.0; 00075 scan.intensities[i] = 10.0; 00076 } 00077 00078 // Keep sending scans until the assembler is done 00079 while (nh.ok()) 00080 { 00081 scan.header.stamp = ros::Time::now(); 00082 scan_pub.publish(scan); 00083 broadcaster.sendTransform(tf::StampedTransform(laser_transform, scan.header.stamp, "dummy_laser_link", "dummy_base_link")); 00084 loop_rate.sleep(); 00085 ROS_INFO("Publishing scan"); 00086 } 00087 } 00088 00089 int main(int argc, char** argv) 00090 { 00091 ros::init(argc, argv, "scan_producer"); 00092 ros::NodeHandle nh; 00093 boost::thread run_thread(&runLoop); 00094 ros::spin(); 00095 run_thread.join(); 00096 return 0; 00097 }