point_cloud_assembler_srv.cpp

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#include "laser_assembler/base_assembler_srv.h"


using namespace std;

namespace laser_assembler
{

class PointCloudAssemblerSrv : public BaseAssemblerSrv<sensor_msgs::PointCloud>
{
public:
  PointCloudAssemblerSrv()
  {

  }

  ~PointCloudAssemblerSrv()
  {

  }

  unsigned int GetPointsInScan(const sensor_msgs::PointCloud& scan)
  {
    return scan.points.size() ;
  }

  void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::PointCloud& scan_in, sensor_msgs::PointCloud& cloud_out)
  {
    tf_->transformPointCloud(fixed_frame_id, scan_in, cloud_out) ;
    return ;
  }

private:

};

}

using namespace laser_assembler ;

int main(int argc, char **argv)
{
  ros::init(argc, argv, "point_cloud_assembler");
  ros::NodeHandle n;
  ROS_WARN("The point_cloud_assembler_srv is deprecated. Please switch to "
           "using the laser_scan_assembler. Documentation is available at "
           "http://www.ros.org/wiki/laser_assembler");
  PointCloudAssemblerSrv pc_assembler;
  pc_assembler.start() ;
  ros::spin();

  return 0;
}