Class ScanFinder

Defined in File scan_finder.hpp

Inheritance Relationships

Base Type

public robot_calibration::FeatureFinder (Class FeatureFinder)

Class Documentation

class ScanFinder : public robot_calibration::FeatureFinder 

The scan finder is useful for aligning a laser scanner with other sensors. In particular, the laser scan be multiplied in the Z direction in order to create a plane for plane to plane calibration.

Public Functions

ScanFinder()

virtual ~ScanFinder() = default

virtual bool init(const std::string &name, std::shared_ptr<tf2_ros::Buffer> buffer, rclcpp::Node::SharedPtr node)

Initialize the feature finder.

Parameters:

name – The name of this finder.
node – The node to use when loading feature finder configuration data.

Returns:

True/False if the feature finder was able to be initialized

virtual bool find(robot_calibration_msgs::msg::CalibrationData *msg)

Once the robot has been moved into the proper position and settled, this function will be called. It should add any new observations to the msg passed in.

Parameters:: msg – The message to which observations should be added.
Returns:: True if feature finder succeeded in finding the features and adding them to the observation list. False otherwise.

Protected Functions

virtual void scanCallback(sensor_msgs::msg::LaserScan::ConstSharedPtr scan): ROS callback - updates scan_ and resets waiting_ to false.

virtual bool waitForScan(): Wait until a new scan has arrived.

void extractPoints(sensor_msgs::msg::PointCloud2 &cloud): Extract a point cloud from laser scan points that meet criteria.

void extractObservation(const sensor_msgs::msg::PointCloud2 &cloud, robot_calibration_msgs::msg::CalibrationData *msg): Extract the point cloud into a calibration message.

Protected Attributes

rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr subscriber_

rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr publisher_

rclcpp::Clock::SharedPtr clock_

bool waiting_

sensor_msgs::msg::LaserScan scan_

std::string laser_sensor_name_

double min_x_

double max_x_

double min_y_

double max_y_

int z_repeats_

double z_offset_

std::string transform_frame_

bool output_debug_