pointcloud_to_laserscan_nodelet.h
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00001 /*
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00036 
00037 /*
00038  * Author: Paul Bovbel
00039  */
00040 
00041 #ifndef POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
00042 #define POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
00043 
00044 #include "ros/ros.h"
00045 #include "boost/thread/mutex.hpp"
00046 
00047 #include "nodelet/nodelet.h"
00048 #include "tf2_ros/buffer.h"
00049 #include "tf2_ros/transform_listener.h"
00050 #include "tf2_ros/message_filter.h"
00051 #include "message_filters/subscriber.h"
00052 #include "sensor_msgs/PointCloud2.h"
00053 
00054 
00055 namespace pointcloud_to_laserscan
00056 {
00057   typedef tf2_ros::MessageFilter<sensor_msgs::PointCloud2> MessageFilter;
00062   class PointCloudToLaserScanNodelet : public nodelet::Nodelet
00063   {
00064 
00065   public:
00066     PointCloudToLaserScanNodelet();
00067 
00068   private:
00069     virtual void onInit();
00070 
00071     void cloudCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg);
00072     void failureCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg,
00073         tf2_ros::filter_failure_reasons::FilterFailureReason reason);
00074 
00075     void connectCb();
00076 
00077     void disconnectCb();
00078 
00079     ros::NodeHandle nh_, private_nh_;
00080     ros::Publisher pub_;
00081     boost::mutex connect_mutex_;
00082 
00083     boost::shared_ptr<tf2_ros::Buffer> tf2_;
00084     boost::shared_ptr<tf2_ros::TransformListener> tf2_listener_;
00085     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_;
00086     boost::shared_ptr<MessageFilter> message_filter_;
00087 
00088     // ROS Parameters
00089     unsigned int input_queue_size_;
00090     std::string target_frame_;
00091     double tolerance_;
00092     double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, range_max_;
00093     bool use_inf_;
00094   };
00095 
00096 }  // pointcloud_to_laserscan
00097 
00098 #endif  // POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET


pointcloud_to_laserscan
Author(s): Paul Bovbel , Tully Foote
autogenerated on Sat Jun 8 2019 19:51:08