FreezeCloud2.cpp

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/*
 * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <ros/ros.h>

#include <sensor_msgs/PointCloud2.h>
#include <string>

int main(int argc, char** argv)
{

    // Init the ROS node
    ros::init(argc, argv, "freezecloud2");

        ROS_INFO("USAGE: FreezeCloud2 input_topic output_topic");
        ROS_INFO("Will wait for a PointCloud2 on input_topic and publish it once on output_topic");
    if (argc > 2) {
        ROS_INFO("input_topic %s output_topic %s", argv[1], argv[2]);
    } else {
        exit(0);
    }

    ros::NodeHandle nh_;

    ros::Rate loop_rate(10);

    sensor_msgs::PointCloud2 cloud2 = *(ros::topic::waitForMessage<sensor_msgs::PointCloud2>(argv[1]));

    ros::Publisher pub = nh_.advertise<sensor_msgs::PointCloud2> (std::string(argv[2]),1,true);

    pub.publish(cloud2);
    ROS_INFO("PUBLISHED");
    while (ros::ok())
    {
        loop_rate.sleep();
        ros::spinOnce();
    }

}