point_cloud_publisher.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #include <ros/ros.h>
00038 #include <sensor_msgs/PointCloud.h>
00039 
00040 int main(int argc, char** argv){
00041   ros::init(argc, argv, "point_cloud_publisher");
00042 
00043   ros::NodeHandle n;
00044   ros::Publisher cloud_pub = n.advertise<sensor_msgs::PointCloud>("cloud", 50);
00045 
00046   unsigned int num_points = 100;
00047 
00048   int count = 0;
00049   ros::Rate r(1.0);
00050   while(n.ok()){
00051     sensor_msgs::PointCloud cloud;
00052     cloud.header.stamp = ros::Time::now();
00053     cloud.header.frame_id = "sensor_frame";
00054 
00055     cloud.points.resize(num_points);
00056 
00057     //we'll also add an intensity channel to the cloud
00058     cloud.channels.resize(1);
00059     cloud.channels[0].name = "intensities";
00060     cloud.channels[0].values.resize(num_points);
00061 
00062     //generate some fake data for our point cloud
00063     for(unsigned int i = 0; i < num_points; ++i){
00064       cloud.points[i].x = 1 + count;
00065       cloud.points[i].y = 2 + count;
00066       cloud.points[i].z = 3 + count;
00067       cloud.channels[0].values[i] = 100 + count;
00068     }
00069 
00070     cloud_pub.publish(cloud);
00071     ++count;
00072     r.sleep();
00073   }
00074 }


point_cloud_publisher_tutorial
Author(s): Eitan Marder-Eppstein
autogenerated on Thu Jan 2 2014 11:31:56