LaserPublisher.h
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00001 #ifndef ROSARIALASERPUBLISHER_H
00002 #define ROSARIALASERPUBLISHER_H
00003 
00004 #include <ros/ros.h>
00005 #include <sensor_msgs/LaserScan.h>
00006 #include <sensor_msgs/PointCloud.h>
00007 #include <tf/transform_broadcaster.h>
00008 
00009 class ArLaser;
00010 class ArTime;
00011 
00012 class LaserPublisher
00013 {
00014 public:
00015   LaserPublisher(ArLaser* _l, ros::NodeHandle& _n, bool _broadcast_transform = true, const std::string& _tf_frame = "laser", const std::string& _parent_tf_frame = "base_link", const std::string& _global_tf_frame = "odom");
00016   ~LaserPublisher();
00017 protected:
00018   void readingsCB();
00019   void publishLaserScan();
00020   void publishPointCloud();
00021 
00022   ArFunctorC<LaserPublisher> laserReadingsCB;
00023   ros::NodeHandle& node;
00024   ArLaser *laser;
00025   ros::Publisher laserscan_pub, pointcloud_pub;
00026   sensor_msgs::LaserScan laserscan;
00027   sensor_msgs::PointCloud  pointcloud;
00028   std::string tfname;
00029   std::string parenttfname;
00030   std::string globaltfname;
00031   tf::Transform lasertf;
00032   tf::TransformBroadcaster transform_broadcaster;
00033   bool broadcast_tf;
00034 
00035   //ArTime *readingsCallbackTime;
00036 };
00037 
00038 #endif


rosaria
Author(s): Srećko Jurić-Kavelj
autogenerated on Sat May 13 2017 02:58:12