pointcloud_to_laserscan_nodelet.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
 *  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.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  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.
 *
 *
 */

/*
 * Author: Paul Bovbel
 */

#ifndef POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
#define POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET

#include "ros/ros.h"
#include "boost/thread/mutex.hpp"

#include "nodelet/nodelet.h"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
#include "tf2_ros/message_filter.h"
#include "message_filters/subscriber.h"
#include "sensor_msgs/PointCloud2.h"


namespace pointcloud_to_laserscan
{
  typedef tf2_ros::MessageFilter<sensor_msgs::PointCloud2> MessageFilter;
  class PointCloudToLaserScanNodelet : public nodelet::Nodelet
  {

  public:
    PointCloudToLaserScanNodelet();

  private:
    virtual void onInit();

    void cloudCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg);
    void failureCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg,
        tf2_ros::filter_failure_reasons::FilterFailureReason reason);

    void connectCb();

    void disconnectCb();

    ros::NodeHandle nh_, private_nh_;
    ros::Publisher pub_;
    boost::mutex connect_mutex_;

    boost::shared_ptr<tf2_ros::Buffer> tf2_;
    boost::shared_ptr<tf2_ros::TransformListener> tf2_listener_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_;
    boost::shared_ptr<MessageFilter> message_filter_;

    // ROS Parameters
    unsigned int input_queue_size_;
    std::string target_frame_;
    double tolerance_;
    double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, range_max_;
    bool use_inf_;
  };

}  // pointcloud_to_laserscan

#endif  // POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET