neato_laser_publisher.cpp

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#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <boost/asio.hpp>
#include <xv_11_laser_driver/xv11_laser.h>
#include <std_msgs/UInt16.h>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "neato_laser_publisher");
  ros::NodeHandle n;
  ros::NodeHandle priv_nh("~");

  std::string port;
  int baud_rate;
  std::string frame_id;
  int firmware_number;
 
  std_msgs::UInt16 rpms; 

  priv_nh.param("port", port, std::string("/dev/ttyUSB0"));
  priv_nh.param("baud_rate", baud_rate, 115200);
  priv_nh.param("frame_id", frame_id, std::string("neato_laser"));
  priv_nh.param("firmware_version", firmware_number, 2);

  boost::asio::io_service io;

  try {
    xv_11_laser_driver::XV11Laser laser(port, baud_rate, firmware_number, io);
    ros::Publisher laser_pub = n.advertise<sensor_msgs::LaserScan>("scan", 1000);
    ros::Publisher motor_pub = n.advertise<std_msgs::UInt16>("rpms",1000);

    while (ros::ok()) {
      sensor_msgs::LaserScan::Ptr scan(new sensor_msgs::LaserScan);
      scan->header.frame_id = frame_id;
      scan->header.stamp = ros::Time::now();
      laser.poll(scan);
      rpms.data=laser.rpms;
      laser_pub.publish(scan);
      motor_pub.publish(rpms);

    }
    laser.close();
    return 0;
  } catch (boost::system::system_error ex) {
    ROS_ERROR("Error instantiating laser object. Are you sure you have the correct port and baud rate? Error was %s", ex.what());
    return -1;
  }
}