#include <sensor_msgs/LaserScan.h>#include <occupancy_grid_utils/ray_tracer.h>#include <occupancy_grid_utils/file.h>#include <tf/transform_listener.h>#include <ros/ros.h>#include <boost/foreach.hpp>#include <boost/lexical_cast.hpp>
Include dependency graph for simulate_scans.cpp:
Go to the source code of this file.
Classes | |
| class | flirtlib_ros::ScanSimulator |
Namespaces | |
| namespace | flirtlib_ros |
Functions | |
| template<class T > | |
| T | flirtlib_ros::getPrivateParam (const string &name) |
| sm::LaserScan | flirtlib_ros::getScannerParams () |
| int | main (int argc, char **argv) |
Detailed Description
Ros node that loads a map, then simulates scans based on the positions of a set of tf frames, one per laser. Essentially does what stage does without needing to bring up a sim, and with more control over the scan generation.
Expects:
- tf with transforms from laser frames to global frame
Publishes:
- the loaded occupancy grid
- scan0, scan1, ... (one for each laser frame)
Definition in file simulate_scans.cpp.
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 166 of file simulate_scans.cpp.