pointcloud_model_generator_node.cpp
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35 #include <ros/ros.h>
37 #include <jsk_footstep_planner/PointCloudModelGeneratorConfig.h>
38 #include <sensor_msgs/PointCloud2.h>
40 #include <dynamic_reconfigure/server.h>
41 
42 using namespace jsk_footstep_planner;
43 
44 double hole_rate;
45 std::string model;
47 void reconfigureCallback(PointCloudModelGeneratorConfig &config, uint32_t level)
48 {
49  boost::mutex::scoped_lock lock(mutex);
50  hole_rate = config.hole_rate;
51  model = config.model;
52 }
53 
54 
55 int main(int argc, char** argv)
56 {
57  ros::init(argc, argv, "pointcloud_model_generator_node");
58  ros::NodeHandle pnh("~");
59  ros::Rate r(1);
60  ros::Publisher pub_cloud = pnh.advertise<sensor_msgs::PointCloud2>("output", 1, true);
61  dynamic_reconfigure::Server<PointCloudModelGeneratorConfig> server;
62  server.setCallback(boost::bind(&reconfigureCallback, _1, _2));
63  while (ros::ok()) {
64  ros::spinOnce();
65  r.sleep();
66  {
67  boost::mutex::scoped_lock lock(mutex);
69  pcl::PointCloud<pcl::PointNormal> cloud;
70  gen.generate(model, cloud, hole_rate);
71  sensor_msgs::PointCloud2 ros_cloud;
72  pcl::toROSMsg(cloud, ros_cloud);
73  ros_cloud.header.frame_id = "odom";
74  ros_cloud.header.stamp = ros::Time::now();
75  pub_cloud.publish(ros_cloud);
76  }
77  }
78  return 0;
79 }
void publish(const boost::shared_ptr< M > &message) const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
server
std::string model
pcl::PointCloud< pcl::PointNormal >::Ptr cloud
ROSCPP_DECL bool ok()
virtual void generate(const std::string &model_name, pcl::PointCloud< PointT > &output, double hole_rate=0.0)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
ros::Publisher pub_cloud
void reconfigureCallback(PointCloudModelGeneratorConfig &config, uint32_t level)
bool sleep()
void toROSMsg(const pcl::PointCloud< T > &cloud, sensor_msgs::Image &msg)
mutex_t * lock
r
static Time now()
just a pointcloud generator for sample usage
boost::mutex mutex
int main(int argc, char **argv)
ROSCPP_DECL void spinOnce()


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Thu Nov 14 2019 03:53:28