psen_scan::ROSScannerNode Class Reference

Class implements a ROS-Node for the PSENscan safety laser scanner. More...

#include <ros_scanner_node.h>

Public Member Functions
sensor_msgs::LaserScan	buildRosMessage (const LaserScan &laserscan)
	Creates a ROS message from an LaserScan, which contains one scanning round. More...
void	processingLoop ()
	endless loop for processing incoming UDP data from the laser scanner More...
	ROSScannerNode (ros::NodeHandle &nh, const std::string &topic, const std::string &frame_id, const uint16_t &skip, const Degree &x_axis_rotation, std::unique_ptr< vScanner > scanner)
	Construct a new ROSScannerNode::ROSScannerNode object. More...

Private Attributes
std::string	frame_id_
ros::NodeHandle	nh_
ros::Publisher	pub_
std::unique_ptr< vScanner >	scanner_
uint16_t	skip_
Degree	x_axis_rotation_

Detailed Description

Class implements a ROS-Node for the PSENscan safety laser scanner.

Definition at line 30 of file ros_scanner_node.h.

Constructor & Destructor Documentation

ROSScannerNode()

psen_scan::ROSScannerNode::ROSScannerNode	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		const std::string &	frame_id,
		const uint16_t &	skip,
		const Degree &	x_axis_rotation,
		std::unique_ptr< vScanner >	scanner
	)

Construct a new ROSScannerNode::ROSScannerNode object.

Parameters

nh	node handle for the ROS node
topic	name of the ROS topic
frame_id	name of the frame id
skip	skip certain number of frames, reduces publish rate
scanner	pointer ot an instance of the class Scanner

Definition at line 35 of file ros_scanner_node.cpp.

Member Function Documentation

buildRosMessage()

sensor_msgs::LaserScan psen_scan::ROSScannerNode::buildRosMessage

(

const LaserScan &

laserscan

)

Creates a ROS message from an LaserScan, which contains one scanning round.

Parameters

laserscan

Returns

sensor_msgs::LaserScan, ROS message, ready to be published

Exceptions

BuildROSMessageException

Definition at line 73 of file ros_scanner_node.cpp.

processingLoop()

void psen_scan::ROSScannerNode::processingLoop

(

)

endless loop for processing incoming UDP data from the laser scanner

Definition at line 113 of file ros_scanner_node.cpp.

Member Data Documentation

frame_id_

std::string psen_scan::ROSScannerNode::frame_id_

private

Defines the name of the frame_id. Default is scanner.

Definition at line 45 of file ros_scanner_node.h.

nh_

ros::NodeHandle psen_scan::ROSScannerNode::nh_

private

ROS Node handler

Definition at line 43 of file ros_scanner_node.h.

pub_

ros::Publisher psen_scan::ROSScannerNode::pub_

private

ROS message publisher

Definition at line 44 of file ros_scanner_node.h.

scanner_

std::unique_ptr<vScanner> psen_scan::ROSScannerNode::scanner_

private

Points to an instance of the Scanner class.

Definition at line 47 of file ros_scanner_node.h.

skip_

uint16_t psen_scan::ROSScannerNode::skip_

private

Skip certain number of frames. Reduces publish rate.

Definition at line 46 of file ros_scanner_node.h.

x_axis_rotation_

Degree psen_scan::ROSScannerNode::x_axis_rotation_

private

X-axis rotation.

Definition at line 48 of file ros_scanner_node.h.

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

• ros_scanner_node.h
• ros_scanner_node.cpp