include
velodyne_laserscan
velodyne_laserscan.h
Go to the documentation of this file.
1
// Copyright (C) 2018, 2019 Kevin Hallenbeck, Joshua Whitley
2
// All rights reserved.
3
//
4
// Software License Agreement (BSD License 2.0)
5
//
6
// Redistribution and use in source and binary forms, with or without
7
// modification, are permitted provided that the following conditions
8
// are met:
9
//
10
// * Redistributions of source code must retain the above copyright
11
// notice, this list of conditions and the following disclaimer.
12
// * Redistributions in binary form must reproduce the above
13
// copyright notice, this list of conditions and the following
14
// disclaimer in the documentation and/or other materials provided
15
// with the distribution.
16
// * Neither the name of {copyright_holder} nor the names of its
17
// contributors may be used to endorse or promote products derived
18
// from this software without specific prior written permission.
19
//
20
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
21
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
22
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
23
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
24
// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
25
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
26
// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
27
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
28
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
29
// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
30
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31
// POSSIBILITY OF SUCH DAMAGE.
32
33
#ifndef VELODYNE_LASERSCAN_VELODYNE_LASERSCAN_H
34
#define VELODYNE_LASERSCAN_VELODYNE_LASERSCAN_H
35
36
#include <
ros/ros.h
>
37
#include <sensor_msgs/PointCloud2.h>
38
#include <sensor_msgs/LaserScan.h>
39
40
#include <boost/thread/mutex.hpp>
41
#include <boost/thread/lock_guard.hpp>
42
43
#include <dynamic_reconfigure/server.h>
44
#include <velodyne_laserscan/VelodyneLaserScanConfig.h>
45
46
namespace
velodyne_laserscan
47
{
48
49
class
VelodyneLaserScan
50
{
51
public
:
52
VelodyneLaserScan
(
ros::NodeHandle
&nh,
ros::NodeHandle
&nh_priv);
53
54
private
:
55
boost::mutex
connect_mutex_
;
56
void
connectCb
();
57
void
recvCallback
(
const
sensor_msgs::PointCloud2ConstPtr& msg);
58
59
ros::NodeHandle
nh_
;
60
ros::Subscriber
sub_
;
61
ros::Publisher
pub_
;
62
63
VelodyneLaserScanConfig
cfg_
;
64
dynamic_reconfigure::Server<VelodyneLaserScanConfig>
srv_
;
65
void
reconfig
(VelodyneLaserScanConfig& config, uint32_t level);
66
67
unsigned
int
ring_count_
;
68
};
69
70
}
// namespace velodyne_laserscan
71
72
#endif // VELODYNE_LASERSCAN_VELODYNE_LASERSCAN_H
velodyne_laserscan::VelodyneLaserScan
Definition:
velodyne_laserscan.h:49
ros::Publisher
velodyne_laserscan::VelodyneLaserScan::srv_
dynamic_reconfigure::Server< VelodyneLaserScanConfig > srv_
Definition:
velodyne_laserscan.h:64
ros.h
velodyne_laserscan::VelodyneLaserScan::cfg_
VelodyneLaserScanConfig cfg_
Definition:
velodyne_laserscan.h:63
velodyne_laserscan::VelodyneLaserScan::ring_count_
unsigned int ring_count_
Definition:
velodyne_laserscan.h:67
velodyne_laserscan
Definition:
velodyne_laserscan.h:46
velodyne_laserscan::VelodyneLaserScan::connectCb
void connectCb()
Definition:
velodyne_laserscan.cpp:48
velodyne_laserscan::VelodyneLaserScan::sub_
ros::Subscriber sub_
Definition:
velodyne_laserscan.h:60
velodyne_laserscan::VelodyneLaserScan::VelodyneLaserScan
VelodyneLaserScan(ros::NodeHandle &nh, ros::NodeHandle &nh_priv)
Definition:
velodyne_laserscan.cpp:39
velodyne_laserscan::VelodyneLaserScan::recvCallback
void recvCallback(const sensor_msgs::PointCloud2ConstPtr &msg)
Definition:
velodyne_laserscan.cpp:61
velodyne_laserscan::VelodyneLaserScan::pub_
ros::Publisher pub_
Definition:
velodyne_laserscan.h:61
velodyne_laserscan::VelodyneLaserScan::nh_
ros::NodeHandle nh_
Definition:
velodyne_laserscan.h:59
velodyne_laserscan::VelodyneLaserScan::reconfig
void reconfig(VelodyneLaserScanConfig &config, uint32_t level)
Definition:
velodyne_laserscan.cpp:275
ros::NodeHandle
ros::Subscriber
velodyne_laserscan::VelodyneLaserScan::connect_mutex_
boost::mutex connect_mutex_
Definition:
velodyne_laserscan.h:55
velodyne_laserscan
Author(s): Micho Radovnikovich, Kevin Hallenbeck
autogenerated on Sun Jun 2 2024 02:29:06