00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2016, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #include <jsk_recognition_utils/pcl_conversion_util.h> 00037 #include "jsk_pcl_ros_utils/point_indices_to_cluster_point_indices.h" 00038 00039 namespace jsk_pcl_ros_utils 00040 { 00041 void PointIndicesToClusterPointIndices::onInit() 00042 { 00043 DiagnosticNodelet::onInit(); 00044 pub_ = advertise<jsk_recognition_msgs::ClusterPointIndices>(*pnh_, "output", 1); 00045 onInitPostProcess(); 00046 } 00047 00048 void PointIndicesToClusterPointIndices::subscribe() 00049 { 00050 sub_ = pnh_->subscribe( 00051 "input", 1, &PointIndicesToClusterPointIndices::convert, this); 00052 } 00053 00054 void PointIndicesToClusterPointIndices::unsubscribe() 00055 { 00056 sub_.shutdown(); 00057 } 00058 00059 void PointIndicesToClusterPointIndices::convert( 00060 const PCLIndicesMsg::ConstPtr& indices_msg) 00061 { 00062 vital_checker_->poke(); 00063 jsk_recognition_msgs::ClusterPointIndices cluster_indices_msg; 00064 cluster_indices_msg.header = indices_msg->header; 00065 cluster_indices_msg.cluster_indices.push_back(*indices_msg); 00066 pub_.publish(cluster_indices_msg); 00067 } 00068 } 00069 00070 #include <pluginlib/class_list_macros.h> 00071 PLUGINLIB_EXPORT_CLASS(jsk_pcl_ros_utils::PointIndicesToClusterPointIndices, nodelet::Nodelet);