The scan finder is useful for aligning a laser scanner with other sensors. In particular, the laser scan be multiplied in the Z direction in order to create a plane for plane to plane calibration. More...

#include <scan_finder.h>

Inheritance diagram for robot_calibration::ScanFinder:

[legend]

Public Member Functions
virtual bool	find (robot_calibration_msgs::CalibrationData *msg)
	Once the robot has been moved into the proper position and settled, this function will be called. It should add any new observations to the msg passed in. More...

virtual bool	init (const std::string &name, ros::NodeHandle &n)
	Initialize the feature finder. More...

	ScanFinder ()

virtual	~ScanFinder ()=default

Public Member Functions inherited from robot_calibration::FeatureFinder
	FeatureFinder ()

std::string	getName ()
	Get the name of this feature finder. More...

virtual	~FeatureFinder ()

Protected Member Functions
void	extractObservation (const sensor_msgs::PointCloud2 &cloud, robot_calibration_msgs::CalibrationData *msg)
	Extract the point cloud into a calibration message. More...

void	extractPoints (sensor_msgs::PointCloud2 &cloud)
	Extract a point cloud from laser scan points that meet criteria. More...

virtual void	scanCallback (const sensor_msgs::LaserScan &scan)
	ROS callback - updates scan_ and resets waiting_ to false. More...

virtual bool	waitForScan ()
	Wait until a new scan has arrived. More...

Protected Attributes
std::string	laser_sensor_name_

double	max_x_

double	max_y_

double	min_x_

double	min_y_

bool	output_debug_

ros::Publisher	publisher_

sensor_msgs::LaserScan	scan_

ros::Subscriber	subscriber_

tf2_ros::Buffer	tf_buffer_

tf2_ros::TransformListener	tf_listener_

std::string	transform_frame_

bool	waiting_

double	z_offset_

int	z_repeats_

Detailed Description

The scan finder is useful for aligning a laser scanner with other sensors. In particular, the laser scan be multiplied in the Z direction in order to create a plane for plane to plane calibration.

Definition at line 35 of file scan_finder.h.

Constructor & Destructor Documentation

◆ ScanFinder()

robot_calibration::ScanFinder::ScanFinder ( )

Definition at line 36 of file scan_finder.cpp.

◆ ~ScanFinder()

virtual robot_calibration::ScanFinder::~ScanFinder ( )

virtualdefault

Member Function Documentation

◆ extractObservation()

void robot_calibration::ScanFinder::extractObservation	(	const sensor_msgs::PointCloud2 &	cloud,
		robot_calibration_msgs::CalibrationData *	msg
	)

protected

Extract the point cloud into a calibration message.

Definition at line 209 of file scan_finder.cpp.

◆ extractPoints()

void robot_calibration::ScanFinder::extractPoints ( sensor_msgs::PointCloud2 & cloud )

protected

Extract a point cloud from laser scan points that meet criteria.

Definition at line 128 of file scan_finder.cpp.

◆ find()

bool robot_calibration::ScanFinder::find ( robot_calibration_msgs::CalibrationData * msg )

virtual

Once the robot has been moved into the proper position and settled, this function will be called. It should add any new observations to the msg passed in.

Parameters

msg	The message to which observations should be added.

Returns: True if feature finder succeeded in finding the features and adding them to the observation list. False otherwise.

Implements robot_calibration::FeatureFinder.

Definition at line 111 of file scan_finder.cpp.

◆ init()

bool robot_calibration::ScanFinder::init	(	const std::string &	name,
		ros::NodeHandle &	nh
	)

virtual

Initialize the feature finder.

Parameters

name	The name of this finder.
nh	The nodehandle to use when loading feature finder configuration data.

Returns: True/False if the feature finder was able to be initialized

Reimplemented from robot_calibration::FeatureFinder.

Definition at line 41 of file scan_finder.cpp.

◆ scanCallback()

void robot_calibration::ScanFinder::scanCallback ( const sensor_msgs::LaserScan & scan )

protectedvirtual

ROS callback - updates scan_ and resets waiting_ to false.

Definition at line 82 of file scan_finder.cpp.

◆ waitForScan()

bool robot_calibration::ScanFinder::waitForScan ( )

protectedvirtual

Wait until a new scan has arrived.

Definition at line 91 of file scan_finder.cpp.

Member Data Documentation

◆ laser_sensor_name_

std::string robot_calibration::ScanFinder::laser_sensor_name_

protected

Definition at line 74 of file scan_finder.h.

◆ max_x_

double robot_calibration::ScanFinder::max_x_

protected

Definition at line 76 of file scan_finder.h.

◆ max_y_

double robot_calibration::ScanFinder::max_y_

protected

Definition at line 78 of file scan_finder.h.

◆ min_x_

double robot_calibration::ScanFinder::min_x_

protected

Definition at line 75 of file scan_finder.h.

◆ min_y_

double robot_calibration::ScanFinder::min_y_

protected

Definition at line 77 of file scan_finder.h.

◆ output_debug_

bool robot_calibration::ScanFinder::output_debug_

protected

Definition at line 83 of file scan_finder.h.

◆ publisher_

ros::Publisher robot_calibration::ScanFinder::publisher_

protected

Definition at line 66 of file scan_finder.h.

◆ scan_

sensor_msgs::LaserScan robot_calibration::ScanFinder::scan_

protected

Definition at line 72 of file scan_finder.h.

◆ subscriber_

ros::Subscriber robot_calibration::ScanFinder::subscriber_

protected

Definition at line 65 of file scan_finder.h.

◆ tf_buffer_

tf2_ros::Buffer robot_calibration::ScanFinder::tf_buffer_

protected

Definition at line 68 of file scan_finder.h.

◆ tf_listener_

tf2_ros::TransformListener robot_calibration::ScanFinder::tf_listener_

protected

Definition at line 69 of file scan_finder.h.

◆ transform_frame_

std::string robot_calibration::ScanFinder::transform_frame_

protected

Definition at line 81 of file scan_finder.h.

◆ waiting_

bool robot_calibration::ScanFinder::waiting_

protected

Definition at line 71 of file scan_finder.h.

◆ z_offset_

double robot_calibration::ScanFinder::z_offset_

protected

Definition at line 80 of file scan_finder.h.

◆ z_repeats_

int robot_calibration::ScanFinder::z_repeats_

protected

Definition at line 79 of file scan_finder.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ScanFinder()

◆ ~ScanFinder()

Member Function Documentation

◆ extractObservation()

◆ extractPoints()

◆ find()

◆ init()

◆ scanCallback()

◆ waitForScan()

Member Data Documentation

◆ laser_sensor_name_

◆ max_x_

◆ max_y_

◆ min_x_

◆ min_y_

◆ output_debug_

◆ publisher_

◆ scan_

◆ subscriber_

◆ tf_buffer_

◆ tf_listener_

◆ transform_frame_

◆ waiting_

◆ z_offset_

◆ z_repeats_