18 #ifndef SCAN_UNIFIER_NODE_H 19 #define SCAN_UNIFIER_NODE_H 34 #include <sensor_msgs/PointCloud.h> 41 #include <sensor_msgs/LaserScan.h> 72 sensor_msgs::LaserScan,
75 sensor_msgs::LaserScan,
76 sensor_msgs::LaserScan,
80 const sensor_msgs::LaserScan::ConstPtr& second_scanner);
82 const sensor_msgs::LaserScan::ConstPtr& second_scanner,
83 const sensor_msgs::LaserScan::ConstPtr& third_scanner);
85 const sensor_msgs::LaserScan::ConstPtr& second_scanner,
86 const sensor_msgs::LaserScan::ConstPtr& third_scanner,
87 const sensor_msgs::LaserScan::ConstPtr& fourth_scanner);
136 bool unifyLaserScans(
const std::vector<sensor_msgs::LaserScan::ConstPtr>& current_scans,
137 sensor_msgs::LaserScan& unified_scan);
std::vector< sensor_msgs::PointCloud > vec_cloud_
message_filters::Synchronizer< message_filters::sync_policies::ApproximateTime< sensor_msgs::LaserScan, sensor_msgs::LaserScan > > * synchronizer2_
std::vector< message_filters::Subscriber< sensor_msgs::LaserScan > * > message_filter_subscribers_
message_filters::Synchronizer< message_filters::sync_policies::ApproximateTime< sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan > > * synchronizer3_
This structure holds configuration parameters.
void messageFilterCallback(const sensor_msgs::LaserScan::ConstPtr &first_scanner, const sensor_msgs::LaserScan::ConstPtr &second_scanner)
tf::TransformListener listener_
bool unifyLaserScans(const std::vector< sensor_msgs::LaserScan::ConstPtr > ¤t_scans, sensor_msgs::LaserScan &unified_scan)
unifie the scan information from all laser scans in vec_laser_struct_
void getParams()
function to load parameters from ros parameter server
ros::Publisher topicPub_LaserUnified_
std::vector< std::string > input_scan_topics
laser_geometry::LaserProjection projector_
message_filters::Synchronizer< message_filters::sync_policies::ApproximateTime< sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan > > * synchronizer4_