pr2_laser_snapshotter.cpp
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00034 
00035 #include <ros/ros.h>
00036 
00037 // Services
00038 #include "laser_assembler/AssembleScans.h"
00039 
00040 // Messages
00041 #include "sensor_msgs/PointCloud.h"
00042 #include "pr2_msgs/LaserScannerSignal.h"
00043 
00044 /***
00045  * This uses the point_cloud_assembler's build_cloud service call to grab all the scans/clouds between two tilt-laser shutters
00046  * params
00047  *  * "~target_frame_id" (string) - This is the frame that the scanned data transformed into.  The
00048  *                                  output clouds are also published in this frame.
00049  *  * "~num_skips" (int)          - If set to N>0, then the snapshotter will skip N signals before
00050  *                                  requesting a new snapshot. This will make the snapshots be N times
00051  *                                  larger. Default 0 - no skipping.
00052  */
00053 
00054 namespace pr2_laser_snapshotter
00055 {
00056 
00057 class PR2LaserSnapshotter
00058 {
00059 
00060 public:
00061   ros::NodeHandle n_;
00062   ros::NodeHandle private_ns_;
00063   ros::Publisher pub_;
00064   ros::Subscriber sub_;
00065 
00066   pr2_msgs::LaserScannerSignal prev_signal_;
00067 
00068   bool first_time_;
00069 
00070   int num_skips_;
00071   int num_skips_left_;
00072 
00073   std::string fixed_frame_;
00074 
00075   PR2LaserSnapshotter() : private_ns_("~")
00076   {
00077     prev_signal_.header.stamp.fromNSec(0);
00078 
00079     pub_ = n_.advertise<sensor_msgs::PointCloud> ("full_cloud", 1);
00080     sub_ = n_.subscribe("laser_scanner_signal", 40, &PR2LaserSnapshotter::scannerSignalCallback, this);
00081 
00082     private_ns_.param("num_skips", num_skips_, 0);
00083     num_skips_left_=num_skips_;
00084 
00085     first_time_ = true;
00086   }
00087 
00088   ~PR2LaserSnapshotter()
00089   {
00090 
00091   }
00092 
00093   void scannerSignalCallback(const pr2_msgs::LaserScannerSignalConstPtr& cur_signal)
00094   {
00095     if (cur_signal->signal == 128 || cur_signal->signal == 129)       // These codes imply that this is the first signal during a given profile type
00096       first_time_ = true;
00097 
00098 
00099     if (first_time_)
00100     {
00101       prev_signal_ = *cur_signal;
00102       first_time_ = false;
00103     }
00104     else
00105     {
00106       if(num_skips_>0)
00107       {
00108         if(num_skips_left_>0)
00109         {
00110           num_skips_left_ -= 1;
00111           return;
00112         }
00113         else
00114         {
00115           num_skips_left_=num_skips_;
00116         }
00117       }
00118 
00119       laser_assembler::AssembleScans::Request req;
00120       laser_assembler::AssembleScans::Response resp;
00121 
00122       req.begin = prev_signal_.header.stamp;
00123       req.end   = cur_signal->header.stamp;
00124 
00125       if (!ros::service::call("assemble_scans", req, resp))
00126         ROS_ERROR("Failed to call service on point cloud assembler or laser scan assembler.");
00127 
00128       pub_.publish(resp.cloud);
00129       ROS_DEBUG("Snapshotter::Published Cloud size=%u", resp.cloud.points.size());
00130 
00131       prev_signal_ = *cur_signal;
00132     }
00133   }
00134 } ;
00135 
00136 }
00137 
00138 using namespace pr2_laser_snapshotter;
00139 
00140 int main(int argc, char **argv)
00141 {
00142   ros::init(argc, argv, "pr2_laser_snapshotter");
00143   PR2LaserSnapshotter snapshotter ;
00144   ros::spin();
00145   return 0;
00146 }


pr2_arm_navigation_perception
Author(s): Sachin Chitta
autogenerated on Sat Dec 28 2013 17:22:41