point_cloud_assembler_srv.cpp
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34 
35 
37 
38 
39 using namespace std;
40 
41 namespace laser_assembler
42 {
43 
50 class PointCloudAssemblerSrv : public BaseAssemblerSrv<sensor_msgs::PointCloud>
51 {
52 public:
54  {
55 
56  }
57 
59  {
60 
61  }
62 
63  unsigned int GetPointsInScan(const sensor_msgs::PointCloud& scan)
64  {
65  return scan.points.size() ;
66  }
67 
68  void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::PointCloud& scan_in, sensor_msgs::PointCloud& cloud_out)
69  {
70  tf_->transformPointCloud(fixed_frame_id, scan_in, cloud_out) ;
71  return ;
72  }
73 
74 private:
75 
76 };
77 
78 }
79 
80 using namespace laser_assembler ;
81 
82 int main(int argc, char **argv)
83 {
84  ros::init(argc, argv, "point_cloud_assembler");
86  ROS_WARN("The point_cloud_assembler_srv is deprecated. Please switch to "
87  "using the laser_scan_assembler. Documentation is available at "
88  "http://www.ros.org/wiki/laser_assembler");
89  PointCloudAssemblerSrv pc_assembler;
90  pc_assembler.start() ;
91  ros::spin();
92 
93  return 0;
94 }
Maintains a history of incremental point clouds (usually from laser scans) and generates a point clou...
Maintains a history of point clouds and generates an aggregate point cloud upon request.
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
#define ROS_WARN(...)
int main(int argc, char **argv)
ROSCPP_DECL void spin(Spinner &spinner)
void ConvertToCloud(const string &fixed_frame_id, const sensor_msgs::PointCloud &scan_in, sensor_msgs::PointCloud &cloud_out)
unsigned int GetPointsInScan(const sensor_msgs::PointCloud &scan)
Returns the number of points in the current scan.
void start()
Tells the assembler to start listening to input data It is possible that a derived class needs to ini...


laser_assembler
Author(s): Vijay Pradeep
autogenerated on Thu Jun 27 2019 19:47:56