example_rplidar_echoer_node.cpp

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*  Copyright (c) 2018, Andreas Gustavsson.
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* Author: Andreas Gustavsson
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#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>

ros::Publisher pub;
sensor_msgs::LaserScan msg_dummy;
sensor_msgs::LaserScan::ConstPtr msg_old(new sensor_msgs::LaserScan(msg_dummy));

void cb(const sensor_msgs::LaserScan::ConstPtr & msg_org)
{
  if (msg_old->header.stamp == msg_org->header.stamp)
  {
    return;
  }
  
  msg_old = msg_org;
  sensor_msgs::LaserScan msg = *msg_org;
  msg.header.stamp = ros::Time::now();
  unsigned int size = msg.ranges.size();
//   for (unsigned int i=0; i<size; ++i)
//   {
//     if (msg.ranges[i] == std::numeric_limits<float>::infinity())
//     {
//       msg.ranges[i] = msg.range_max + 10.0;
// //       msg.ranges[i] = 2;
// //       msg.intensities[i] = 1000;
//     }
//     else if (msg.ranges[i] == -std::numeric_limits<float>::infinity())
//     {
//       msg.ranges[i] = msg.range_min - 10.0;
// //       msg.ranges[i] = 2;
// //       msg.intensities[i] = 1000;
//     }
//   }
  
  pub.publish(msg);
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "rplidar_laserscan_echoer");
  ros::NodeHandle n;
  
  // Wait for time to become valid
  ros::Time::waitForValid();

  pub = n.advertise<sensor_msgs::LaserScan>("/lidar/scan_echoed", 10);
  ros::Subscriber sub = n.subscribe<sensor_msgs::LaserScan>("/lidar/scan", 10, cb);

  ros::spin();

  return 0;
}