cloud_throttle.cpp

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/* Copyright (c) 2010, Willow Garage Inc.
 * Copyright (c) 2012, Tang Tiong Yew
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#include "ros/ros.h"
#include "pluginlib/class_list_macros.h"
#include "nodelet/nodelet.h"
#include "sensor_msgs/LaserScan.h"
#include "pcl/point_cloud.h"
#include "pcl_ros/point_cloud.h"
#include "pcl/point_types.h"
#include "pcl/ros/conversions.h"




namespace pointcloud_to_laserscan
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

class CloudThrottle : public nodelet::Nodelet
{
public:
  //Constructor
  CloudThrottle(): max_update_rate_(0)
  {
  };

private:
  ros::Time last_update_;
  double max_update_rate_;
  virtual void onInit()
  {
    ros::NodeHandle& nh = getNodeHandle();
    ros::NodeHandle& private_nh = getPrivateNodeHandle();
    
    private_nh.getParam("max_rate", max_update_rate_);

    pub_ = nh.advertise<PointCloud>("cloud_out", 10);
    sub_ = nh.subscribe<PointCloud>("cloud_in", 10, &CloudThrottle::callback, this);
  };

  void callback(const PointCloud::ConstPtr& cloud)
  {
    if (max_update_rate_ > 0.0)
    {
      NODELET_DEBUG("update set to %f", max_update_rate_);
      if ( last_update_ + ros::Duration(1.0/max_update_rate_) > ros::Time::now())
      {
        NODELET_DEBUG("throttle last update at %f skipping", last_update_.toSec());
        return;
      }
    }
    else
      NODELET_DEBUG("update_rate unset continuing");
    last_update_ = ros::Time::now();
    pub_.publish(cloud);
  }


  ros::Publisher pub_;
  ros::Subscriber sub_;
  
};


PLUGINLIB_DECLARE_CLASS(pointcloud_to_laserscan, CloudThrottle, pointcloud_to_laserscan::CloudThrottle, nodelet::Nodelet);
}