multisense_ros::Laser Class Reference

#include <laser.h>

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)
tf2::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
crl::multisense::Channel *	driver_
std::string	frame_id_
std::string	hokuyo_
sensor_msgs::JointState	joint_states_
ros::Publisher	joint_states_pub_
sensor_msgs::LaserScan	laser_msg_
tf2::Transform	laser_to_spindle_
std::string	left_camera_optical_
crl::multisense::lidar::Calibration	lidar_cal_
std::string	motor_
tf2::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_
tf2_ros::StaticTransformBroadcaster	static_tf_broadcaster_
std::mutex	sub_lock_
int32_t	subscribers_
ros::Timer	timer_

Detailed Description

Definition at line 51 of file laser.h.

Constructor & Destructor Documentation

Laser()

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

Definition at line 98 of file laser.cpp.

~Laser()

multisense_ros::Laser::~Laser

(

)

Definition at line 273 of file laser.cpp.

Member Function Documentation

defaultTfPublisher()

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

private

Definition at line 459 of file laser.cpp.

getSpindleTransform()

tf2::Transform multisense_ros::Laser::getSpindleTransform ( float  spindle_angle )

private

Definition at line 447 of file laser.cpp.

pointCloudCallback()

void multisense_ros::Laser::pointCloudCallback

(

const crl::multisense::lidar::Header &

header

)

Definition at line 282 of file laser.cpp.

publishSpindleTransform()

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

private

Definition at line 440 of file laser.cpp.

publishStaticTransforms()

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

private

scanCallback()

void multisense_ros::Laser::scanCallback

(

const crl::multisense::lidar::Header &

header

)

Definition at line 349 of file laser.cpp.

stop()

void multisense_ros::Laser::stop ( )

private

Definition at line 476 of file laser.cpp.

subscribe()

void multisense_ros::Laser::subscribe ( )

private

Definition at line 496 of file laser.cpp.

unsubscribe()

void multisense_ros::Laser::unsubscribe ( )

private

Definition at line 486 of file laser.cpp.

Member Data Documentation

driver_

crl::multisense::Channel* multisense_ros::Laser::driver_

private

Definition at line 103 of file laser.h.

EXPECTED_RATE

const float multisense_ros::Laser::EXPECTED_RATE = 40.0

static

Definition at line 60 of file laser.h.

frame_id_

std::string multisense_ros::Laser::frame_id_

private

Definition at line 105 of file laser.h.

hokuyo_

std::string multisense_ros::Laser::hokuyo_

private

Definition at line 98 of file laser.h.

joint_states_

sensor_msgs::JointState multisense_ros::Laser::joint_states_

private

Definition at line 120 of file laser.h.

joint_states_pub_

ros::Publisher multisense_ros::Laser::joint_states_pub_

private

Definition at line 113 of file laser.h.

laser_msg_

sensor_msgs::LaserScan multisense_ros::Laser::laser_msg_

private

Definition at line 118 of file laser.h.

laser_to_spindle_

tf2::Transform multisense_ros::Laser::laser_to_spindle_

private

Definition at line 91 of file laser.h.

left_camera_optical_

std::string multisense_ros::Laser::left_camera_optical_

private

Definition at line 95 of file laser.h.

lidar_cal_

crl::multisense::lidar::Calibration multisense_ros::Laser::lidar_cal_

private

Definition at line 88 of file laser.h.

motor_

std::string multisense_ros::Laser::motor_

private

Definition at line 96 of file laser.h.

motor_to_camera_

tf2::Transform multisense_ros::Laser::motor_to_camera_

private

Definition at line 90 of file laser.h.

point_cloud_

sensor_msgs::PointCloud2 multisense_ros::Laser::point_cloud_

private

Definition at line 119 of file laser.h.

point_cloud_pub_

ros::Publisher multisense_ros::Laser::point_cloud_pub_

private

Definition at line 111 of file laser.h.

previous_scan_time_

ros::Time multisense_ros::Laser::previous_scan_time_

private

Definition at line 142 of file laser.h.

raw_lidar_cal_pub_

ros::Publisher multisense_ros::Laser::raw_lidar_cal_pub_

private

Definition at line 112 of file laser.h.

raw_lidar_data_pub_

ros::Publisher multisense_ros::Laser::raw_lidar_data_pub_

private

Definition at line 110 of file laser.h.

scan_pub_

ros::Publisher multisense_ros::Laser::scan_pub_

private

Definition at line 104 of file laser.h.

spindle_

std::string multisense_ros::Laser::spindle_

private

Definition at line 97 of file laser.h.

spindle_angle_

float multisense_ros::Laser::spindle_angle_

private

Definition at line 136 of file laser.h.

static_tf_broadcaster_

tf2_ros::StaticTransformBroadcaster multisense_ros::Laser::static_tf_broadcaster_

private

Definition at line 76 of file laser.h.

sub_lock_

std::mutex multisense_ros::Laser::sub_lock_

private

Definition at line 125 of file laser.h.

subscribers_

int32_t multisense_ros::Laser::subscribers_

private

Definition at line 126 of file laser.h.

timer_

ros::Timer multisense_ros::Laser::timer_

private

Definition at line 131 of file laser.h.

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

• laser.h
• laser.cpp