00001 /* 00002 * Copyright (c) 2011, Ivan Dryanovski, William Morris 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the CCNY Robotics Lab nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef LASER_SCAN_SPLITTER_LASER_SCAN_SPLITTER_H 00031 #define LASER_SCAN_SPLITTER_LASER_SCAN_SPLITTER_H 00032 00033 #include <ros/ros.h> 00034 #include <sensor_msgs/LaserScan.h> 00035 00036 namespace scan_tools { 00037 00038 const std::string scan_topic_ = "scan"; 00039 00040 class LaserScanSplitter 00041 { 00042 private: 00043 00044 // **** ROS-related 00045 ros::NodeHandle nh_; 00046 ros::NodeHandle nh_private_; 00047 ros::Subscriber scan_subscriber_; 00048 std::vector<ros::Publisher> scan_publishers_; 00049 00050 // **** paramaters 00051 00052 std::vector<std::string> published_scan_topics_; 00053 std::vector<std::string> published_laser_frames_; 00054 std::vector<int> sizes_; 00055 00056 // **** state variables 00057 00058 unsigned int size_sum_; 00059 00060 // **** member functions 00061 00062 void scanCallback (const sensor_msgs::LaserScanConstPtr& scan_msg); 00063 void tokenize (const std::string& str, std::vector<std::string>& tokens); 00064 00065 public: 00066 00067 LaserScanSplitter (ros::NodeHandle nh, ros::NodeHandle nh_private); 00068 virtual ~ LaserScanSplitter (); 00069 }; 00070 00071 } //namespace scan_tools 00072 00073 #endif // LASER_SCAN_SPLITTER_LASER_SCAN_SPLITTER_H