main.cpp
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1 // Copyright (c) 2020-2021 Pilz GmbH & Co. KG
2 //
3 // This program is free software: you can redistribute it and/or modify
4 // it under the terms of the GNU Lesser General Public License as published by
5 // the Free Software Foundation, either version 3 of the License, or
6 // (at your option) any later version.
7 //
8 // This program is distributed in the hope that it will be useful,
9 // but WITHOUT ANY WARRANTY; without even the implied warranty of
10 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11 // GNU Lesser General Public License for more details.
12 //
13 // You should have received a copy of the GNU Lesser General Public License
14 // along with this program. If not, see <https://www.gnu.org/licenses/>.
15 
16 #include <chrono>
17 #include <string>
18 #include <thread>
19 
21 
22 using namespace psen_scan_v2_standalone;
23 
24 /*
25  * In this section we declare all necessary configuration parameters
26  */
27 const std::string SCANNER_IP{ "192.168.0.10" };
28 // Start- and end-angle have been configured to be in the middle of the scan range.
31 
32 /*
33  * This function is used as a callback every time a new laserscan is received. It is skipped for Scans that contain no
34  * measurement data. This can happen with smaller scan ranges.
35  */
36 void laserScanCallback(const LaserScan& scan)
37 {
38  // Other data fields are listed on
39  // https://docs.ros.org/en/melodic/api/psen_scan_v2/html/classpsen__scan__v2__standalone_1_1LaserScan.html
40  PSENSCAN_INFO_THROTTLE(1 /* sec */, "laserScanCallback()", "Ranges {}", util::formatRange(scan.measurements()));
41 }
42 
43 int main(int argc, char** argv)
44 {
45  setLogLevel(CONSOLE_BRIDGE_LOG_INFO);
46 
47  // Available configuration options are listed on
48  // http://docs.ros.org/en/melodic/api/psen_scan_v2/html/classpsen__scan__v2__standalone_1_1ScannerConfigurationBuilder.html
51 
52  scanner.start();
53  std::this_thread::sleep_for(std::chrono::seconds(10));
54  scanner.stop();
55 
56  return 0;
57 }
laserScanCallback
void laserScanCallback(const LaserScan &scan)
Definition: main.cpp:36
psen_scan_v2_standalone::ScannerV2::stop
std::future< void > stop() override
An exception is set in the returned future if the scanner stop was not successful.
Definition: scanner_v2.cpp:90
main
int main(int argc, char **argv)
Definition: main.cpp:43
ANGLE_START
const util::TenthOfDegree ANGLE_START
Definition: main.cpp:29
psen_scan_v2_standalone::data_conversion_layer::degreeToTenthDegree
static int16_t degreeToTenthDegree(const double &angle_in_degree)
Definition: angle_conversions.h:38
psen_scan_v2_standalone::ScannerV2
This is the implementation of the Scanner API defined by IScanner.
Definition: scanner_v2.h:60
psen_scan_v2_standalone::util::formatRange
std::string formatRange(const T &range)
Definition: format_range.h:38
PSENSCAN_INFO_THROTTLE
#define PSENSCAN_INFO_THROTTLE(period, name,...)
Definition: logging.h:76
psen_scan_v2_standalone::ScannerV2::start
std::future< void > start() override
An exception is set in the returned future if the scanner start was not successful.
Definition: scanner_v2.cpp:72
psen_scan_v2_standalone::ScannerConfigurationBuilder
Helper class to simplify/improve the construction of the psen_scan_v2_standalone::ScannerConfiguratio...
Definition: scanner_config_builder.h:35
psen_scan_v2_standalone::LaserScan
This class represents a single laser scan in the <tf_prefix> target frame.
Definition: laserscan.h:47
psen_scan_v2_standalone
Root namespace in which the software components to communicate with the scanner (firmware-version: 2)...
Definition: udp_client.h:41
core.h
psen_scan_v2_standalone::LaserScan::measurements
const MeasurementData & measurements() const
Definition: laserscan.cpp:141
psen_scan_v2_standalone::ScanRangeTemplated
Higher level data type storing the range in which the scanner takes measurements.
Definition: scan_range.h:31
psen_scan_v2_standalone::util::TenthOfDegree
Helper class representing angles in tenth of degree.
Definition: tenth_of_degree.h:34
SCANNER_IP
const std::string SCANNER_IP
Definition: main.cpp:27
ANGLE_END
const util::TenthOfDegree ANGLE_END
Definition: main.cpp:30


psen_scan_v2
Author(s): Pilz GmbH + Co. KG
autogenerated on Sat Jun 22 2024 02:46:11