Public Member Functions | Static Public Attributes | Private Member Functions | Private Attributes
multisense_ros::Laser Class Reference

#include <laser.h>

List of all members.

Public Member Functions

 Laser (crl::multisense::Channel *driver, const std::string &tf_prefix)
void pointCloudCallback (const crl::multisense::lidar::Header &header)
void scanCallback (const crl::multisense::lidar::Header &header)
 ~Laser ()

Static Public Attributes

static const float EXPECTED_RATE = 40.0

Private Member Functions

void defaultTfPublisher (const ros::TimerEvent &event)
tf::Transform getSpindleTransform (float spindle_angle)
void publishSpindleTransform (const float spindle_angle, const float velocity, const ros::Time &time)
void publishStaticTransforms (const ros::Time &time)
void stop ()
void subscribe ()
void unsubscribe ()

Private Attributes

std::string frame_id_
std::string hokuyo_
sensor_msgs::JointState joint_states_
ros::Publisher joint_states_pub_
sensor_msgs::LaserScan laser_msg_
tf::Transform laser_to_spindle_
std::string left_camera_optical_
crl::multisense::lidar::Calibration lidar_cal_
std::string motor_
tf::Transform motor_to_camera_
sensor_msgs::PointCloud2 point_cloud_
ros::Publisher point_cloud_pub_
ros::Time previous_scan_time_
ros::Publisher raw_lidar_cal_pub_
ros::Publisher raw_lidar_data_pub_
ros::Publisher scan_pub_
std::string spindle_
float spindle_angle_
tf::TransformBroadcaster static_tf_broadcaster_
boost::mutex sub_lock_
int32_t subscribers_
ros::Timer timer_

Detailed Description

Definition at line 50 of file laser.h.

Constructor & Destructor Documentation

multisense_ros::Laser::Laser ( crl::multisense::Channel driver,
const std::string &  tf_prefix 

Definition at line 95 of file laser.cpp.

Definition at line 262 of file laser.cpp.

Member Function Documentation

void multisense_ros::Laser::defaultTfPublisher ( const ros::TimerEvent &  event) [private]

Definition at line 466 of file laser.cpp.

tf::Transform multisense_ros::Laser::getSpindleTransform ( float  spindle_angle) [private]

Definition at line 454 of file laser.cpp.

Definition at line 271 of file laser.cpp.

void multisense_ros::Laser::publishSpindleTransform ( const float  spindle_angle,
const float  velocity,
const ros::Time &  time 
) [private]

Definition at line 447 of file laser.cpp.

void multisense_ros::Laser::publishStaticTransforms ( const ros::Time &  time) [private]

Definition at line 431 of file laser.cpp.

Definition at line 338 of file laser.cpp.

void multisense_ros::Laser::stop ( ) [private]

Definition at line 482 of file laser.cpp.

Definition at line 502 of file laser.cpp.

Definition at line 492 of file laser.cpp.

Member Data Documentation

Definition at line 102 of file laser.h.

const float multisense_ros::Laser::EXPECTED_RATE = 40.0 [static]

Definition at line 59 of file laser.h.

std::string multisense_ros::Laser::frame_id_ [private]

Definition at line 104 of file laser.h.

std::string multisense_ros::Laser::hokuyo_ [private]

Definition at line 97 of file laser.h.

sensor_msgs::JointState multisense_ros::Laser::joint_states_ [private]

Definition at line 119 of file laser.h.

ros::Publisher multisense_ros::Laser::joint_states_pub_ [private]

Definition at line 112 of file laser.h.

sensor_msgs::LaserScan multisense_ros::Laser::laser_msg_ [private]

Definition at line 117 of file laser.h.

Definition at line 90 of file laser.h.

Definition at line 94 of file laser.h.

Definition at line 87 of file laser.h.

std::string multisense_ros::Laser::motor_ [private]

Definition at line 95 of file laser.h.

tf::Transform multisense_ros::Laser::motor_to_camera_ [private]

Definition at line 89 of file laser.h.

sensor_msgs::PointCloud2 multisense_ros::Laser::point_cloud_ [private]

Definition at line 118 of file laser.h.

ros::Publisher multisense_ros::Laser::point_cloud_pub_ [private]

Definition at line 110 of file laser.h.

Definition at line 141 of file laser.h.

Definition at line 111 of file laser.h.

Definition at line 109 of file laser.h.

ros::Publisher multisense_ros::Laser::scan_pub_ [private]

Definition at line 103 of file laser.h.

std::string multisense_ros::Laser::spindle_ [private]

Definition at line 96 of file laser.h.

Definition at line 135 of file laser.h.

tf::TransformBroadcaster multisense_ros::Laser::static_tf_broadcaster_ [private]

Definition at line 75 of file laser.h.

boost::mutex multisense_ros::Laser::sub_lock_ [private]

Definition at line 124 of file laser.h.

Definition at line 125 of file laser.h.

ros::Timer multisense_ros::Laser::timer_ [private]

Definition at line 130 of file laser.h.

The documentation for this class was generated from the following files:

autogenerated on Mon Oct 9 2017 03:06:27