Defines | Functions | Variables
node.cpp File Reference
#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"
#include "std_srvs/Empty.h"
#include "rplidar.h"
Include dependency graph for node.cpp:

Go to the source code of this file.


#define _countof(_Array)   (int)(sizeof(_Array) / sizeof(_Array[0]))
#define DEG2RAD(x)   ((x)*M_PI/180.)


bool checkRPLIDARHealth (RPlidarDriver *drv)
static float getAngle (const rplidar_response_measurement_node_hq_t &node)
bool getRPLIDARDeviceInfo (RPlidarDriver *drv)
int main (int argc, char *argv[])
void publish_scan (ros::Publisher *pub, rplidar_response_measurement_node_hq_t *nodes, size_t node_count, ros::Time start, double scan_time, bool inverted, float angle_min, float angle_max, float max_distance, std::string frame_id)
bool start_motor (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool stop_motor (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)


RPlidarDriverdrv = NULL

Define Documentation

#define _countof (   _Array)    (int)(sizeof(_Array) / sizeof(_Array[0]))

Definition at line 41 of file node.cpp.

#define DEG2RAD (   x)    ((x)*M_PI/180.)

Definition at line 44 of file node.cpp.

Function Documentation

Definition at line 133 of file node.cpp.

static float getAngle ( const rplidar_response_measurement_node_hq_t node) [static]

Definition at line 177 of file node.cpp.

Definition at line 107 of file node.cpp.

int main ( int  argc,
char *  argv[] 

Definition at line 182 of file node.cpp.

void publish_scan ( ros::Publisher pub,
rplidar_response_measurement_node_hq_t nodes,
size_t  node_count,
ros::Time  start,
double  scan_time,
bool  inverted,
float  angle_min,
float  angle_max,
float  max_distance,
std::string  frame_id 

Definition at line 50 of file node.cpp.

bool start_motor ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 

Definition at line 166 of file node.cpp.

bool stop_motor ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 

Definition at line 154 of file node.cpp.

Variable Documentation

RPlidarDriver* drv = NULL

Definition at line 48 of file node.cpp.

autogenerated on Mon Mar 18 2019 02:34:23