logger.cpp

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/*
 * Copyright (c) 2010 Oscar Martinez Mozos <omozos@googlemail.com> 
 * Dejan Pangercic <pangercic -=- cs.tum.edu> (ROS maintaniner)
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 *
 */

//standards
#include <iostream>
#include <float.h>

//ROS
#include <ros/ros.h>
#include <ros/node_handle.h>
#include <sensor_msgs/LaserScan.h>

using namespace std;


class LoggerNode 
{
public:
  ros::NodeHandle nh_;
  //Subscribers/Publishers
  ros::Subscriber scan_;
  //Parameters
  string filename_;
  string input_scan_topic_;
  FILE *f_out_;
  int scan_id_; // identifier for the scans
  

  LoggerNode() : nh_("~")
  {
    nh_.param("input_scan_topic", input_scan_topic_, std::string("/base_scan_front"));
    scan_ = nh_.subscribe<sensor_msgs::LaserScan>(input_scan_topic_, 10, &LoggerNode::scan_cb, this);
  }
  
  ~LoggerNode()
  {
    fclose( f_out_ );
  }

  void init ()
  {
          scan_id_ = 0;
          
      f_out_ = fopen(filename_.c_str(), "w");
      if ( f_out_ == NULL ) 
      {
        ROS_ERROR("ERROR opening output file %s", filename_.c_str());
      }
  }
  
  void scan_cb(const sensor_msgs::LaserScan::ConstPtr &msg)
  {
        double value;
        double angle; // radians
  int num_readings = msg->ranges.size();
    
        scan_id_ ++;
        
        fprintf(f_out_, "%d %.8f 1 %d", scan_id_, msg->header.stamp.toSec(), num_readings);
        for (int i = 0; i < num_readings; i++)
    {
      value = msg->ranges[i];
      angle = msg->angle_min + i * msg->angle_increment;
          
      fprintf(f_out_, " %.8f %.8f", angle, value);        
    }
    fprintf(f_out_, "\n");
    ROS_INFO("Scan nr %d saved to disk.", scan_id_);
  }
  //end LoggerNode
};
  

/* ---[ */
int main (int argc, char** argv)
{
                
  if (argc < 2) {
        cerr << "USE: " << argv[0] << " <output_file>" << endl;
        return 1;
  }
  ros::init (argc, argv, "logger_node");
  LoggerNode lg_node;
  lg_node.filename_.assign(argv[1]);
  ROS_INFO("filename %s", lg_node.filename_.c_str());
  lg_node.init();
  ros::spin ();
  return (0);
}
/* ]--- */