Maintains a history of laser scans and generates a point cloud upon request. More...

Inheritance diagram for laser_assembler::LaserScanAssemblerSrv:

Public Member Functions
void	ConvertToCloud (const string &fixed_frame_id, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud &cloud_out)

unsigned int	GetPointsInScan (const sensor_msgs::LaserScan &scan)
	Returns the number of points in the current scan. More...

	LaserScanAssemblerSrv ()

	~LaserScanAssemblerSrv ()

Public Member Functions inherited from laser_assembler::BaseAssemblerSrv< sensor_msgs::LaserScan >
	BaseAssemblerSrv ()

virtual void	ConvertToCloud (const std::string &fixed_frame_id, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud &cloud_out)=0
	Converts the current scan into a cloud in the specified fixed frame. More...

void	start ()
	Tells the assembler to start listening to input data It is possible that a derived class needs to initialize and configure various things before actually beginning to process scans. Calling start create subcribes to the input stream, thus allowing the scanCallback and ConvertToCloud to be called. Start should be called only once. More...

	~BaseAssemblerSrv ()

Private Attributes
filters::FilterChain< sensor_msgs::LaserScan >	filter_chain_

bool	ignore_laser_skew_

laser_geometry::LaserProjection	projector_

sensor_msgs::LaserScan	scan_filtered_

Additional Inherited Members
Protected Attributes inherited from laser_assembler::BaseAssemblerSrv< sensor_msgs::LaserScan >
ros::NodeHandle	n_

ros::NodeHandle	private_ns_

tf::TransformListener *	tf_

Detailed Description

Maintains a history of laser scans and generates a point cloud upon request.

ROS Parameters

(Several params are inherited from laser_assembler::BaseAssemblerSrv)
"~ignore_laser_skew" (bool) - Specifies the method to project laser data
- true -> Account for laser skew, and compute the transform for each laser point (This is currently really slow!)
- false-> Don't account for laser skew, and use 1 transform per scanline. (This might have a little error when moving fast)

laser_assembler::LaserScanAssemblerSrv::LaserScanAssemblerSrv ( )

inline

laser_assembler::LaserScanAssemblerSrv::~LaserScanAssemblerSrv ( )

inline

void laser_assembler::LaserScanAssemblerSrv::ConvertToCloud	(	const string &	fixed_frame_id,
		const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud &	cloud_out
	)