LaserPublisher Class Reference

#include <LaserPublisher.h>

Public Member Functions
	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")
	~LaserPublisher ()

Protected Member Functions
void	publishLaserScan ()
void	publishPointCloud ()
void	readingsCB ()

Protected Attributes
bool	broadcast_tf
std::string	globaltfname
ArLaser *	laser
ArFunctorC< LaserPublisher >	laserReadingsCB
sensor_msgs::LaserScan	laserscan
ros::Publisher	laserscan_pub
tf::Transform	lasertf
ros::NodeHandle &	node
std::string	parenttfname
sensor_msgs::PointCloud	pointcloud
ros::Publisher	pointcloud_pub
std::string	tfname
tf::TransformBroadcaster	transform_broadcaster

Detailed Description

Definition at line 12 of file LaserPublisher.h.

Constructor & Destructor Documentation

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 at line 19 of file LaserPublisher.cpp.

LaserPublisher::~LaserPublisher

(

)

Definition at line 77 of file LaserPublisher.cpp.

Member Function Documentation

void LaserPublisher::publishLaserScan ( )

protected

Definition at line 98 of file LaserPublisher.cpp.

void LaserPublisher::publishPointCloud ( )

protected

Definition at line 141 of file LaserPublisher.cpp.

void LaserPublisher::readingsCB ( )

protected

Definition at line 85 of file LaserPublisher.cpp.

Member Data Documentation

bool LaserPublisher::broadcast_tf

protected

Definition at line 33 of file LaserPublisher.h.

std::string LaserPublisher::globaltfname

protected

Definition at line 30 of file LaserPublisher.h.

ArLaser* LaserPublisher::laser

protected

Definition at line 24 of file LaserPublisher.h.

ArFunctorC<LaserPublisher> LaserPublisher::laserReadingsCB

protected

Definition at line 22 of file LaserPublisher.h.

sensor_msgs::LaserScan LaserPublisher::laserscan

protected

Definition at line 26 of file LaserPublisher.h.

ros::Publisher LaserPublisher::laserscan_pub

protected

Definition at line 25 of file LaserPublisher.h.

tf::Transform LaserPublisher::lasertf

protected

Definition at line 31 of file LaserPublisher.h.

ros::NodeHandle& LaserPublisher::node

protected

Definition at line 23 of file LaserPublisher.h.

std::string LaserPublisher::parenttfname

protected

Definition at line 29 of file LaserPublisher.h.

sensor_msgs::PointCloud LaserPublisher::pointcloud

protected

Definition at line 27 of file LaserPublisher.h.

ros::Publisher LaserPublisher::pointcloud_pub

protected

Definition at line 25 of file LaserPublisher.h.

std::string LaserPublisher::tfname

protected

Definition at line 28 of file LaserPublisher.h.

tf::TransformBroadcaster LaserPublisher::transform_broadcaster

protected

Definition at line 32 of file LaserPublisher.h.

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The documentation for this class was generated from the following files:

• LaserPublisher.h
• LaserPublisher.cpp