ROS node for SICK 3DCS driver. More...

#include <sick_3vistort_driver/driver.h>
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/PointCloud2.h>
#include <cv_bridge/cv_bridge.h>
#include <boost/thread.hpp>
#include <sensor_msgs/CameraInfo.h>
#include <std_msgs/ByteMultiArray.h>

Include dependency graph for node.cpp:

Go to the source code of this file.

Functions
void	_on_new_subscriber ()
int	main (int argc, char **argv)
void	on_frame (const boost::shared_ptr< Driver_3DCS::Data > &data)
void	on_new_subscriber_it (const image_transport::SingleSubscriberPublisher &pub)
void	on_new_subscriber_ros (const ros::SingleSubscriberPublisher &pub)
void	publish_frame (const Driver_3DCS::Data &data)
void	thr_publish_frame ()
Variables
Driver_3DCS::Control *	g_control = NULL
boost::shared_ptr < Driver_3DCS::Data >	g_data
std::string	g_frame_id
boost::mutex	g_mtx_data
ros::Publisher	g_pub_camera_info
image_transport::Publisher	g_pub_confidence
image_transport::Publisher	g_pub_depth
image_transport::Publisher	g_pub_intensity
ros::Publisher	g_pub_ios
ros::Publisher	g_pub_points
bool	g_publish_all = false
	If true: prevents skipping of frames and publish everything, otherwise use newest data to publish to ROS world.
const uint16_t	NARE_DISTANCE_VALUE = 0xffffU
	Distance code for data outside the TOF range.
const bool	SUPPRESS_INVALID_POINTS = true
	Flag whether invalid points are to be replaced by NaN.

Detailed Description

ROS node for SICK 3DCS driver.

Note:: Copyright (c) TODO FILL IN YEAR HERE
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA); ROS package name: sick_3vistort_driver

Author:: Author: Joshua Hampp

Date:: Date of creation: 05/21/2015

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 the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file node.cpp.