LaserPublisher.h
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1 #ifndef ROSARIALASERPUBLISHER_H
2 #define ROSARIALASERPUBLISHER_H
3 
4 #include <ros/ros.h>
5 #include <sensor_msgs/LaserScan.h>
6 #include <sensor_msgs/PointCloud.h>
8 
9 class ArLaser;
10 class ArTime;
11 
13 {
14 public:
15  LaserPublisher(ArLaser* _l, ros::NodeHandle& _n, bool _broadcast_transform = true, const std::string& _tf_frame = "laser", const std::string& _parent_tf_frame = "base_link", const std::string& _global_tf_frame = "odom");
17 protected:
18  void readingsCB();
19  void publishLaserScan();
20  void publishPointCloud();
21 
22  ArFunctorC<LaserPublisher> laserReadingsCB;
24  ArLaser *laser;
26  sensor_msgs::LaserScan laserscan;
27  sensor_msgs::PointCloud pointcloud;
28  std::string tfname;
29  std::string parenttfname;
30  std::string globaltfname;
34 
35  //ArTime *readingsCallbackTime;
36 };
37 
38 #endif
ArFunctorC< LaserPublisher > laserReadingsCB
LaserPublisher(ArLaser *_l, ros::NodeHandle &_n, bool _broadcast_transform=true, const std::string &_tf_frame="laser", const std::string &_parent_tf_frame="base_link", const std::string &_global_tf_frame="odom")
std::string tfname
sensor_msgs::LaserScan laserscan
ros::NodeHandle & node
tf::TransformBroadcaster transform_broadcaster
sensor_msgs::PointCloud pointcloud
ros::Publisher laserscan_pub
ArLaser * laser
std::string parenttfname
ros::Publisher pointcloud_pub
tf::Transform lasertf
std::string globaltfname


rosaria
Author(s): Srećko Jurić-Kavelj
autogenerated on Fri Jun 7 2019 22:02:02