#include <LaserPublisher.h>
Public Member Functions | |
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") | |
~LaserPublisher () | |
Protected Member Functions | |
void | publishLaserScan () |
void | publishPointCloud () |
void | readingsCB () |
Protected Attributes | |
bool | broadcast_tf |
std::string | globaltfname |
ArLaser * | laser |
ArFunctorC< LaserPublisher > | laserReadingsCB |
sensor_msgs::LaserScan | laserscan |
ros::Publisher | laserscan_pub |
tf::Transform | lasertf |
ros::NodeHandle & | node |
std::string | parenttfname |
sensor_msgs::PointCloud | pointcloud |
ros::Publisher | pointcloud_pub |
std::string | tfname |
tf::TransformBroadcaster | transform_broadcaster |
Definition at line 12 of file LaserPublisher.h.
LaserPublisher::LaserPublisher | ( | ArLaser * | _l, |
ros::NodeHandle & | _n, | ||
bool | _broadcast_transform = true , |
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const std::string & | _tf_frame = "laser" , |
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const std::string & | _parent_tf_frame = "base_link" , |
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const std::string & | _global_tf_frame = "odom" |
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) |
Definition at line 19 of file LaserPublisher.cpp.
Definition at line 77 of file LaserPublisher.cpp.
void LaserPublisher::publishLaserScan | ( | ) | [protected] |
Definition at line 98 of file LaserPublisher.cpp.
void LaserPublisher::publishPointCloud | ( | ) | [protected] |
Definition at line 141 of file LaserPublisher.cpp.
void LaserPublisher::readingsCB | ( | ) | [protected] |
Definition at line 85 of file LaserPublisher.cpp.
bool LaserPublisher::broadcast_tf [protected] |
Definition at line 33 of file LaserPublisher.h.
std::string LaserPublisher::globaltfname [protected] |
Definition at line 30 of file LaserPublisher.h.
ArLaser* LaserPublisher::laser [protected] |
Definition at line 24 of file LaserPublisher.h.
ArFunctorC<LaserPublisher> LaserPublisher::laserReadingsCB [protected] |
Definition at line 22 of file LaserPublisher.h.
sensor_msgs::LaserScan LaserPublisher::laserscan [protected] |
Definition at line 26 of file LaserPublisher.h.
ros::Publisher LaserPublisher::laserscan_pub [protected] |
Definition at line 25 of file LaserPublisher.h.
tf::Transform LaserPublisher::lasertf [protected] |
Definition at line 31 of file LaserPublisher.h.
ros::NodeHandle& LaserPublisher::node [protected] |
Definition at line 23 of file LaserPublisher.h.
std::string LaserPublisher::parenttfname [protected] |
Definition at line 29 of file LaserPublisher.h.
sensor_msgs::PointCloud LaserPublisher::pointcloud [protected] |
Definition at line 27 of file LaserPublisher.h.
ros::Publisher LaserPublisher::pointcloud_pub [protected] |
Definition at line 25 of file LaserPublisher.h.
std::string LaserPublisher::tfname [protected] |
Definition at line 28 of file LaserPublisher.h.
Definition at line 32 of file LaserPublisher.h.