00001 /* 00002 * Copyright (c) 2014, RoboPeak 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright notice, 00009 * this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above copyright notice, 00012 * this list of conditions and the following disclaimer in the documentation 00013 * and/or other materials provided with the distribution. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 00017 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 00018 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 00019 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00020 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00021 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 00022 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 00023 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 00024 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 00025 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00026 * 00027 */ 00028 /* 00029 * RoboPeak LIDAR System 00030 * RPlidar ROS Node client test app 00031 * 00032 * Copyright 2009 - 2014 RoboPeak Team 00033 * http://www.robopeak.com 00034 * 00035 */ 00036 00037 00038 #include "ros/ros.h" 00039 #include "sensor_msgs/LaserScan.h" 00040 00041 #define RAD2DEG(x) ((x)*180./M_PI) 00042 00043 void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan) 00044 { 00045 int count = scan->scan_time / scan->time_increment; 00046 ROS_INFO("I heard a laser scan %s[%d]:", scan->header.frame_id.c_str(), count); 00047 ROS_INFO("angle_range, %f, %f", RAD2DEG(scan->angle_min), RAD2DEG(scan->angle_max)); 00048 00049 for(int i = 0; i < count; i++) { 00050 float degree = RAD2DEG(scan->angle_min + scan->angle_increment * i); 00051 ROS_INFO(": [%f, %f]", degree, scan->ranges[i]); 00052 } 00053 } 00054 00055 int main(int argc, char **argv) 00056 { 00057 ros::init(argc, argv, "rplidar_node_client"); 00058 ros::NodeHandle n; 00059 00060 ros::Subscriber sub = n.subscribe<sensor_msgs::LaserScan>("/scan", 1000, scanCallback); 00061 00062 ros::spin(); 00063 00064 return 0; 00065 }