node.cpp File Reference

#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"
#include "std_srvs/Empty.h"
#include "sl_lidar.h"

Include dependency graph for node.cpp:

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Macros
#define	_countof(_Array)   (int)(sizeof(_Array) / sizeof(_Array[0]))
#define	DEG2RAD(x)   ((x)*M_PI/180.)
#define	RESET_TIMEOUT   15

Enumerations
enum	{ LIDAR_A_SERIES_MINUM_MAJOR_ID = 0, LIDAR_S_SERIES_MINUM_MAJOR_ID = 5, LIDAR_T_SERIES_MINUM_MAJOR_ID = 8 }

Functions
bool	checkRPLIDARHealth (ILidarDriver *drv)
static float	getAngle (const sl_lidar_response_measurement_node_hq_t &node)
bool	getRPLIDARDeviceInfo (ILidarDriver *drv)
int	main (int argc, char *argv[])
void	publish_scan (ros::Publisher *pub, sl_lidar_response_measurement_node_hq_t *nodes, size_t node_count, ros::Time start, double scan_time, bool inverted, float angle_min, float angle_max, float max_distance, std::string frame_id)
bool	resetRPLIDAR (ILidarDriver *drv)
bool	start_motor (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	stop_motor (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

Variables
ILidarDriver *	drv = NULL

Macro Definition Documentation

_countof

#define _countof

(

_Array

)

(int)(sizeof(_Array) / sizeof(_Array[0]))

Definition at line 41 of file node.cpp.

DEG2RAD

#define DEG2RAD

(

x

)

((x)*M_PI/180.)

Definition at line 44 of file node.cpp.

RESET_TIMEOUT

#define RESET_TIMEOUT   15

Definition at line 45 of file node.cpp.

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
LIDAR_A_SERIES_MINUM_MAJOR_ID
LIDAR_S_SERIES_MINUM_MAJOR_ID
LIDAR_T_SERIES_MINUM_MAJOR_ID

Definition at line 47 of file node.cpp.

Function Documentation

checkRPLIDARHealth()

bool checkRPLIDARHealth

(

ILidarDriver *

drv

)

Definition at line 162 of file node.cpp.

getAngle()

static float getAngle ( const sl_lidar_response_measurement_node_hq_t &  node )

static

Definition at line 217 of file node.cpp.

getRPLIDARDeviceInfo()

bool getRPLIDARDeviceInfo

(

ILidarDriver *

drv

)

Definition at line 113 of file node.cpp.

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 222 of file node.cpp.

publish_scan()

void publish_scan	(	ros::Publisher *	pub,
		sl_lidar_response_measurement_node_hq_t *	nodes,
		size_t	node_count,
		ros::Time	start,
		double	scan_time,
		bool	inverted,
		float	angle_min,
		float	angle_max,
		float	max_distance,
		std::string	frame_id
	)

Definition at line 56 of file node.cpp.

resetRPLIDAR()

bool resetRPLIDAR

(

ILidarDriver *

drv

)

Definition at line 150 of file node.cpp.

start_motor()

bool start_motor	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 201 of file node.cpp.

stop_motor()

bool stop_motor	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 190 of file node.cpp.

Variable Documentation

drv

ILidarDriver* drv = NULL

Definition at line 54 of file node.cpp.