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LaserPublisher.h
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#ifndef ROSARIALASERPUBLISHER_H
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#define ROSARIALASERPUBLISHER_H
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#include <
ros/ros.h
>
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#include <sensor_msgs/LaserScan.h>
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#include <sensor_msgs/PointCloud.h>
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#include <
tf/transform_broadcaster.h
>
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class
ArLaser;
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class
ArTime;
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class
LaserPublisher
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{
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public
:
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LaserPublisher
(ArLaser* _l,
ros::NodeHandle
& _n,
bool
_broadcast_transform =
true
,
const
std::string& _tf_frame =
"laser"
,
const
std::string& _parent_tf_frame =
"base_link"
,
const
std::string& _global_tf_frame =
"odom"
);
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~LaserPublisher
();
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protected
:
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void
readingsCB
();
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void
publishLaserScan
();
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void
publishPointCloud
();
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ArFunctorC<LaserPublisher>
laserReadingsCB
;
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ros::NodeHandle
&
node
;
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ArLaser *
laser
;
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ros::Publisher
laserscan_pub
,
pointcloud_pub
;
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sensor_msgs::LaserScan
laserscan
;
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sensor_msgs::PointCloud
pointcloud
;
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std::string
tfname
;
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std::string
parenttfname
;
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std::string
globaltfname
;
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tf::Transform
lasertf
;
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tf::TransformBroadcaster
transform_broadcaster
;
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bool
broadcast_tf
;
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//ArTime *readingsCallbackTime;
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};
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#endif
LaserPublisher::~LaserPublisher
~LaserPublisher()
Definition:
LaserPublisher.cpp:77
LaserPublisher::laserReadingsCB
ArFunctorC< LaserPublisher > laserReadingsCB
Definition:
LaserPublisher.h:22
LaserPublisher::LaserPublisher
LaserPublisher(ArLaser *_l, ros::NodeHandle &_n, bool _broadcast_transform=true, const std::string &_tf_frame="laser", const std::string &_parent_tf_frame="base_link", const std::string &_global_tf_frame="odom")
Definition:
LaserPublisher.cpp:19
LaserPublisher::tfname
std::string tfname
Definition:
LaserPublisher.h:28
LaserPublisher::laserscan
sensor_msgs::LaserScan laserscan
Definition:
LaserPublisher.h:26
ros::NodeHandle
LaserPublisher::node
ros::NodeHandle & node
Definition:
LaserPublisher.h:23
LaserPublisher::transform_broadcaster
tf::TransformBroadcaster transform_broadcaster
Definition:
LaserPublisher.h:32
LaserPublisher::readingsCB
void readingsCB()
Definition:
LaserPublisher.cpp:85
LaserPublisher::broadcast_tf
bool broadcast_tf
Definition:
LaserPublisher.h:33
transform_broadcaster.h
LaserPublisher::pointcloud
sensor_msgs::PointCloud pointcloud
Definition:
LaserPublisher.h:27
LaserPublisher::publishLaserScan
void publishLaserScan()
Definition:
LaserPublisher.cpp:98
tf::Transform
LaserPublisher::laserscan_pub
ros::Publisher laserscan_pub
Definition:
LaserPublisher.h:25
LaserPublisher::laser
ArLaser * laser
Definition:
LaserPublisher.h:24
ros.h
LaserPublisher::parenttfname
std::string parenttfname
Definition:
LaserPublisher.h:29
LaserPublisher::pointcloud_pub
ros::Publisher pointcloud_pub
Definition:
LaserPublisher.h:25
LaserPublisher::publishPointCloud
void publishPointCloud()
Definition:
LaserPublisher.cpp:141
LaserPublisher::lasertf
tf::Transform lasertf
Definition:
LaserPublisher.h:31
ros::Publisher
tf::TransformBroadcaster
LaserPublisher::globaltfname
std::string globaltfname
Definition:
LaserPublisher.h:30
LaserPublisher
Definition:
LaserPublisher.h:12
rosaria
Author(s): Srećko Jurić-Kavelj
autogenerated on Thu Mar 18 2021 02:51:25