laser_interval_calc_node.cpp

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#include <ros/ros.h>
#include <calibration_msgs/IntervalStamped.h>
#include <laser_cb_detector/laser_interval_calc.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>

using namespace laser_cb_detector;

void syncCallback(ros::Publisher* pub,
                  const calibration_msgs::DenseLaserSnapshotConstPtr& snapshot,
                  const calibration_msgs::CalibrationPatternConstPtr& features)
{
  calibration_msgs::IntervalStamped out;

  bool success;

  success = LaserIntervalCalc::computeInterval(*snapshot, *features, out.interval);

  if (!success)
  {
    ROS_WARN("Failed trying to compute interval. Not going to publish");
    return;
  }

  out.header.stamp = snapshot->header.stamp;
  pub->publish(out);
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "laser_interval_calc");

  ros::NodeHandle nh;

  ros::Publisher pub = nh.advertise<calibration_msgs::IntervalStamped>("laser_interval", 1);

  message_filters::Subscriber<calibration_msgs::DenseLaserSnapshot> snapshot_sub(nh, "snapshot", 1);
  message_filters::Subscriber<calibration_msgs::CalibrationPattern> features_sub(nh, "features", 1);
  message_filters::TimeSynchronizer<calibration_msgs::DenseLaserSnapshot,
                                    calibration_msgs::CalibrationPattern> sync(snapshot_sub, features_sub, 2);
  sync.registerCallback(boost::bind(&syncCallback, &pub, _1, _2));

  ros::spin();

  return 0;
}