2 #include <std_msgs/Float32.h> 3 #include <std_msgs/Bool.h> 17 avg = 0.9 *
avg + 0.1 * msg->data;
20 double value = fabs(msg->data -
avg);
23 std_msgs::Float32 value_msg;
24 value_msg.data =
scale * value;
27 std_msgs::Bool bool_msg;
33 int main(
int argc,
char **argv)
35 ros::init(argc, argv,
"hector_barrel_detection");
45 co2Pub = nh_.
advertise<std_msgs::Float32>(
"/co2", 100);
46 detectedPub = nh_.
advertise<std_msgs::Bool>(
"/co2detected", 100);
void publish(const boost::shared_ptr< M > &message) const
int main(int argc, char **argv)
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
void co2_callback(const std_msgs::Float32::ConstPtr &msg)
ros::Publisher detectedPub