pcd_reader_with_pose_nodelet.cpp
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00001 // -*- mode: c++; indent-tabs-mode: nil; -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 #include "jsk_pcl_ros/pcd_reader_with_pose.h"
00037 #include "jsk_pcl_ros/pcl_conversion_util.h"
00038 #include <eigen_conversions/eigen_msg.h>
00039 #include <pcl/common/transforms.h>
00040 #include <eigen_conversions/eigen_msg.h>
00041 #include <pcl/io/pcd_io.h>
00042 #include <pcl/io/io.h>
00043 
00044 namespace jsk_pcl_ros
00045 {
00046   void PCDReaderWithPose::onInit()
00047   {
00048     pcl::console::setVerbosityLevel(pcl::console::L_ERROR);
00049     DiagnosticNodelet::onInit();
00050     std::string file_name;
00051     pnh_->param("pcd_file", file_name, std::string(""));
00052     if (file_name == std::string("") || pcl::io::loadPCDFile (file_name, template_cloud_) == -1){
00053       JSK_NODELET_FATAL("cannot read pcd file %s", file_name.c_str());
00054       return;
00055     }
00056     pub_cloud_ = advertise<sensor_msgs::PointCloud2>(*pnh_,
00057                                                        "output", 1);    
00058   }
00059   void PCDReaderWithPose::subscribe()
00060   {
00061     sub_teacher_ = pnh_->subscribe("input", 1,
00062                                        &PCDReaderWithPose::poseCallback,
00063                                        this);
00064   }
00065   void PCDReaderWithPose::unsubscribe()
00066   {
00067   }
00068   void PCDReaderWithPose::poseCallback(
00069     const geometry_msgs::PoseStamped::ConstPtr& pose_stamped)
00070   {
00071     ros::Time now = ros::Time::now();
00072     Eigen::Affine3f pose_eigen;
00073     tf::poseMsgToEigen(pose_stamped->pose, pose_eigen);
00074     sensor_msgs::PointCloud2 ros_out;
00075     Eigen::Matrix4f transform = pose_eigen.matrix();
00076     pcl_ros::transformPointCloud(transform ,template_cloud_, ros_out);
00077     ros_out.header = pose_stamped->header;
00078     pub_cloud_.publish(ros_out);
00079   }
00080 }
00081 
00082 #include <pluginlib/class_list_macros.h>
00083 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::PCDReaderWithPose, nodelet::Nodelet);


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:48