dummy_scan_producer.cpp

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/* Author: Vijay Pradeep */

#include <boost/thread.hpp>
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <sensor_msgs/LaserScan.h>

void runLoop()
{
  ros::NodeHandle nh;

  ros::Publisher scan_pub   = nh.advertise<sensor_msgs::LaserScan>("dummy_scan", 100);
  ros::Rate loop_rate(5);

  // Configure the Transform broadcaster
  tf::TransformBroadcaster broadcaster;
  tf::Transform laser_transform(tf::Quaternion(0,0,0,1));

  // Populate the dummy laser scan
  sensor_msgs::LaserScan scan;
  scan.header.frame_id = "/dummy_laser_link";
  scan.angle_min = 0.0;
  scan.angle_max = 99.0;
  scan.angle_increment = 1.0;
  scan.time_increment = .001;
  scan.scan_time = .05;
  scan.range_min = .01;
  scan.range_max = 100.0;

  const unsigned int N = 100;
  scan.ranges.resize(N);
  scan.intensities.resize(N);

  for (unsigned int i=0; i<N; i++)
  {
    scan.ranges[i] = 10.0;
    scan.intensities[i] = 10.0;
  }

  // Keep sending scans until the assembler is done
  while (nh.ok())
  {
    scan.header.stamp = ros::Time::now();
    scan_pub.publish(scan);
    broadcaster.sendTransform(tf::StampedTransform(laser_transform, scan.header.stamp, "dummy_laser_link", "dummy_base_link"));
    loop_rate.sleep();
    ROS_INFO("Publishing scan");
  }
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "scan_producer");
  ros::NodeHandle nh;
  boost::thread run_thread(&runLoop);
  ros::spin();
  run_thread.join();
  return 0;
}