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Remove pointcloud_to_laserscan package

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Paul Bovbel 2015-06-08 08:52:04 -04:00 committed by Paul Bovbel
parent 8ffb7a3189
commit 5472ff8f8a
10 changed files with 0 additions and 618 deletions
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1
perception_pcl/package.xml
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@ -23,7 +23,6 @@
<run_depend>pcl_conversions</run_depend>
<run_depend>pcl_msgs</run_depend>
<run_depend>pcl_ros</run_depend>
<run_depend>pointcloud_to_laserscan</run_depend>
<export>
<metapackage/>
</export>

43
pointcloud_to_laserscan/CHANGELOG.rst
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@ -1,43 +0,0 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package pointcloud_to_laserscan
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1.2.6 (2015-02-04)
------------------
* Fix default value for concurrency
* Fix multithreaded lazy pub sub
* Contributors: Paul Bovbel
1.2.5 (2015-01-20)
------------------
* Switch to tf_sensor_msgs for transform
* Set parameters in sample launch files to default
* Add tolerance parameter
* Contributors: Paul Bovbel
1.2.4 (2015-01-15)
------------------
* Remove stray dependencies
* Refactor with tf2 and message filters
* Remove roslaunch check
* Fix regressions
* Refactor to allow debug messages from node and nodelet
* Contributors: Paul Bovbel
1.2.3 (2015-01-10)
------------------
* add launch tests
* refactor naming and fix nodelet export
* set default target frame to empty
* clean up package.xml
* Contributors: Paul Bovbel
1.2.2 (2014-10-25)
------------------
* clean up package.xml
* Fix header reference
* Fix flow
* Fix pointer assertion
* Finalize pointcloud to laserscan
* Initial pointcloud to laserscan commit
* Contributors: Paul Bovbel

45
pointcloud_to_laserscan/CMakeLists.txt
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@ -1,45 +0,0 @@
cmake_minimum_required(VERSION 2.8.3)
project(pointcloud_to_laserscan)
find_package(catkin REQUIRED COMPONENTS
message_filters
nodelet
roscpp
sensor_msgs
tf2
tf2_ros
tf2_sensor_msgs
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES pointcloud_to_laserscan
CATKIN_DEPENDS roscpp message_filters nodelet sensor_msgs tf2 tf2_ros
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_library(pointcloud_to_laserscan src/pointcloud_to_laserscan_nodelet.cpp)
target_link_libraries(pointcloud_to_laserscan ${catkin_LIBRARIES})
add_executable(pointcloud_to_laserscan_node src/pointcloud_to_laserscan_node.cpp)
target_link_libraries(pointcloud_to_laserscan_node pointcloud_to_laserscan ${catkin_LIBRARIES})
install(TARGETS pointcloud_to_laserscan pointcloud_to_laserscan_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(FILES nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

96
pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h
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@ -1,96 +0,0 @@
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010-2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
/*
* Author: Paul Bovbel
*/
#ifndef POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
#define POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
#include "ros/ros.h"
#include "boost/thread/mutex.hpp"
#include "nodelet/nodelet.h"
#include "tf2_ros/buffer.h"
#include "tf2_ros/message_filter.h"
#include "message_filters/subscriber.h"
#include "sensor_msgs/PointCloud2.h"
namespace pointcloud_to_laserscan
{
typedef tf2_ros::MessageFilter<sensor_msgs::PointCloud2> MessageFilter;
/**
* Class to process incoming pointclouds into laserscans. Some initial code was pulled from the defunct turtlebot
* pointcloud_to_laserscan implementation.
*/
class PointCloudToLaserScanNodelet : public nodelet::Nodelet
{
public:
PointCloudToLaserScanNodelet();
private:
virtual void onInit();
void cloudCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg);
void failureCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg,
tf2_ros::filter_failure_reasons::FilterFailureReason reason);
void connectCb();
void disconnectCb();
ros::NodeHandle nh_, private_nh_;
ros::Publisher pub_;
boost::mutex connect_mutex_;
tf2_ros::Buffer tf2_;
message_filters::Subscriber<sensor_msgs::PointCloud2> sub_;
boost::shared_ptr<MessageFilter> message_filter_;
// ROS Parameters
unsigned int input_queue_size_;
std::string target_frame_;
double tolerance_;
double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, range_max_;
bool use_inf_;
};
} // pointcloud_to_laserscan
#endif // POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET

40
pointcloud_to_laserscan/launch/sample_node.launch
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@ -1,40 +0,0 @@
<?xml version="1.0"?>
<launch>
<arg name="camera" default="camera" />
<!-- start sensor-->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="camera" default="$(arg camera)"/>
</include>
<!-- run pointcloud_to_laserscan node -->
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
<remap from="scan" to="$(arg camera)/scan"/>
<rosparam>
#target_frame: # Leave disabled to output scan in pointcloud frame
transform_tolerance: 0.01
min_height: 0.0
max_height: 1.0
angle_min: -1.5708 # -M_PI/2
angle_max: 1.5708 # M_PI/2
angle_increment: 0.087 # M_PI/360.0
scan_time: 0.3333
range_min: 0.45
range_max: 4.0
use_inf: true
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 0
</rosparam>
</node>
</launch>

40
pointcloud_to_laserscan/launch/sample_nodelet.launch
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@ -1,40 +0,0 @@
<?xml version="1.0"?>
<launch>
<arg name="camera" default="camera" />
<!-- start sensor-->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="camera" default="$(arg camera)"/>
</include>
<!-- push pointcloud_to_laserscan nodelet into sensor's nodelet manager-->
<node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan" args="load pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet $(arg camera)_nodelet_manager">
<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
<remap from="scan" to="$(arg camera)/scan"/>
<rosparam>
#target_frame: # Leave disabled to output scan in pointcloud frame
transform_tolerance: 0.01
min_height: 0.0
max_height: 1.0
angle_min: -1.5708 # -M_PI/2
angle_max: 1.5708 # M_PI/2
angle_increment: 0.087 # M_PI/360.0
scan_time: 0.3333
range_min: 0.45
range_max: 4.0
use_inf: true
# Concurrency level, affects number of pointclouds queued for processing, thread number governed by nodelet manager
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 0
</rosparam>
</node>
</launch>

11
pointcloud_to_laserscan/nodelets.xml
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@ -1,11 +0,0 @@
<library path="lib/libpointcloud_to_laserscan">
<class name="pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet"
type="pointcloud_to_laserscan::PointCloudToLaserScanNodelet"
base_class_type="nodelet::Nodelet">
<description>
Nodelet to convert sensor_msgs/PointCloud2 to sensor_msgs/LaserScans.
</description>
</class>
</library>

37
pointcloud_to_laserscan/package.xml
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@ -1,37 +0,0 @@
<?xml version="1.0"?>
<package>
<name>pointcloud_to_laserscan</name>
<version>1.2.6</version>
<description>Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).</description>
<maintainer email="paul@bovbel.com">Paul Bovbel</maintainer>
<author>Tully Foote</author>
<license>BSD</license>
<url type="website">http://ros.org/wiki/perception_pcl</url>
<url type="bugtracker">https://github.com/ros-perception/perception_pcl/issues</url>
<url type="repository">https://github.com/ros-perception/perception_pcl</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_filters</build_depend>
<build_depend>nodelet</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>tf2</build_depend>
<build_depend>tf2_ros</build_depend>
<build_depend>tf2_sensor_msgs</build_depend>
<run_depend>message_filters</run_depend>
<run_depend>nodelet</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>tf2</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>tf2_sensor_msgs</run_depend>
<export>
<nodelet plugin="${prefix}/nodelets.xml"/>
</export>
</package>

65
pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp
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@ -1,65 +0,0 @@
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010-2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
/*
* Author: Paul Bovbel
*/
#include <ros/ros.h>
#include <nodelet/loader.h>
int main(int argc, char **argv){
ros::init(argc, argv, "pointcloud_to_laserscan_node");
ros::NodeHandle private_nh("~");
int concurrency_level;
private_nh.param<int>("concurrency_level", concurrency_level, 0);
nodelet::Loader nodelet;
nodelet::M_string remap(ros::names::getRemappings());
nodelet::V_string nargv;
std::string nodelet_name = ros::this_node::getName();
nodelet.load(nodelet_name, "pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet", remap, nargv);
boost::shared_ptr<ros::MultiThreadedSpinner> spinner;
if(concurrency_level) {
spinner.reset(new ros::MultiThreadedSpinner(concurrency_level));
}else{
spinner.reset(new ros::MultiThreadedSpinner());
}
spinner->spin();
return 0;
}

240
pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp
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@ -1,240 +0,0 @@
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010-2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
/*
* Author: Paul Bovbel
*/
#include <pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h>
#include <sensor_msgs/LaserScan.h>
#include <pluginlib/class_list_macros.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
namespace pointcloud_to_laserscan
{
PointCloudToLaserScanNodelet::PointCloudToLaserScanNodelet() {}
void PointCloudToLaserScanNodelet::onInit()
{
boost::mutex::scoped_lock lock(connect_mutex_);
private_nh_ = getPrivateNodeHandle();
private_nh_.param<std::string>("target_frame", target_frame_, "");
private_nh_.param<double>("tolerance", tolerance_, 0.01);
private_nh_.param<double>("min_height", min_height_, 0.0);
private_nh_.param<double>("max_height", max_height_, 1.0);
private_nh_.param<double>("angle_min", angle_min_, -M_PI / 2.0);
private_nh_.param<double>("angle_max", angle_max_, M_PI / 2.0);
private_nh_.param<double>("angle_increment", angle_increment_, M_PI / 360.0);
private_nh_.param<double>("scan_time", scan_time_, 1.0 / 30.0);
private_nh_.param<double>("range_min", range_min_, 0.45);
private_nh_.param<double>("range_max", range_max_, 4.0);
int concurrency_level;
private_nh_.param<int>("concurrency_level", concurrency_level, 1);
private_nh_.param<bool>("use_inf", use_inf_, true);
//Check if explicitly single threaded, otherwise, let nodelet manager dictate thread pool size
if (concurrency_level == 1)
{
nh_ = getNodeHandle();
}
else
{
nh_ = getMTNodeHandle();
}
// Only queue one pointcloud per running thread
if (concurrency_level > 0)
{
input_queue_size_ = concurrency_level;
}
else
{
input_queue_size_ = boost::thread::hardware_concurrency();
}
// if pointcloud target frame specified, we need to filter by transform availability
if (!target_frame_.empty())
{
message_filter_.reset(new MessageFilter(sub_, tf2_, target_frame_, input_queue_size_, nh_));
message_filter_->setTolerance(ros::Duration(tolerance_));
message_filter_->registerCallback(boost::bind(&PointCloudToLaserScanNodelet::cloudCb, this, _1));
message_filter_->registerFailureCallback(boost::bind(&PointCloudToLaserScanNodelet::failureCb, this, _1, _2));
}
else // otherwise setup direct subscription
{
sub_.registerCallback(boost::bind(&PointCloudToLaserScanNodelet::cloudCb, this, _1));
}
pub_ = nh_.advertise<sensor_msgs::LaserScan>("scan", 10,
boost::bind(&PointCloudToLaserScanNodelet::connectCb, this),
boost::bind(&PointCloudToLaserScanNodelet::disconnectCb, this));
}
void PointCloudToLaserScanNodelet::connectCb()
{
boost::mutex::scoped_lock lock(connect_mutex_);
if (pub_.getNumSubscribers() > 0 && sub_.getSubscriber().getNumPublishers() == 0)
{
NODELET_INFO("Got a subscriber to scan, starting subscriber to pointcloud");
sub_.subscribe(nh_, "cloud_in", input_queue_size_);
}
}
void PointCloudToLaserScanNodelet::disconnectCb()
{
boost::mutex::scoped_lock lock(connect_mutex_);
if (pub_.getNumSubscribers() == 0)
{
NODELET_INFO("No subscibers to scan, shutting down subscriber to pointcloud");
sub_.unsubscribe();
}
}
void PointCloudToLaserScanNodelet::failureCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg,
tf2_ros::filter_failure_reasons::FilterFailureReason reason)
{
NODELET_WARN_STREAM_THROTTLE(1.0, "Can't transform pointcloud from frame " << cloud_msg->header.frame_id << " to "
<< message_filter_->getTargetFramesString() << " with tolerance " << tolerance_);
}
void PointCloudToLaserScanNodelet::cloudCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
{
//build laserscan output
sensor_msgs::LaserScan output;
output.header = cloud_msg->header;
if (!target_frame_.empty())
{
output.header.frame_id = target_frame_;
}
output.angle_min = angle_min_;
output.angle_max = angle_max_;
output.angle_increment = angle_increment_;
output.time_increment = 0.0;
output.scan_time = scan_time_;
output.range_min = range_min_;
output.range_max = range_max_;
//determine amount of rays to create
uint32_t ranges_size = std::ceil((output.angle_max - output.angle_min) / output.angle_increment);
//determine if laserscan rays with no obstacle data will evaluate to infinity or max_range
if (use_inf_)
{
output.ranges.assign(ranges_size, std::numeric_limits<double>::infinity());
}
else
{
output.ranges.assign(ranges_size, output.range_max + 1.0);
}
sensor_msgs::PointCloud2ConstPtr cloud_out;
sensor_msgs::PointCloud2Ptr cloud;
// Transform cloud if necessary
if (!(output.header.frame_id == cloud_msg->header.frame_id))
{
try
{
cloud.reset(new sensor_msgs::PointCloud2);
tf2_.transform(*cloud_msg, *cloud, target_frame_, ros::Duration(tolerance_));
cloud_out = cloud;
}
catch (tf2::TransformException ex)
{
NODELET_ERROR_STREAM("Transform failure: " << ex.what());
return;
}
}
else
{
cloud_out = cloud_msg;
}
// Iterate through pointcloud
for (sensor_msgs::PointCloud2ConstIterator<float>
iter_x(*cloud_out, "x"), iter_y(*cloud_out, "y"), iter_z(*cloud_out, "z");
iter_x != iter_x.end();
++iter_x, ++iter_y, ++iter_z)
{
if (std::isnan(*iter_x) || std::isnan(*iter_y) || std::isnan(*iter_z))
{
NODELET_DEBUG("rejected for nan in point(%f, %f, %f)\n", *iter_x, *iter_y, *iter_z);
continue;
}
if (*iter_z > max_height_ || *iter_z < min_height_)
{
NODELET_DEBUG("rejected for height %f not in range (%f, %f)\n", *iter_z, min_height_, max_height_);
continue;
}
double range = hypot(*iter_x, *iter_y);
if (range < range_min_)
{
NODELET_DEBUG("rejected for range %f below minimum value %f. Point: (%f, %f, %f)", range, range_min_, *iter_x, *iter_y,
*iter_z);
continue;
}
double angle = atan2(*iter_y, *iter_x);
if (angle < output.angle_min || angle > output.angle_max)
{
NODELET_DEBUG("rejected for angle %f not in range (%f, %f)\n", angle, output.angle_min, output.angle_max);
continue;
}
//overwrite range at laserscan ray if new range is smaller
int index = (angle - output.angle_min) / output.angle_increment;
if (range < output.ranges[index])
{
output.ranges[index] = range;
}
}
pub_.publish(output);
}
}
PLUGINLIB_DECLARE_CLASS(pointcloud_to_laserscan, PointCloudToLaserScanNodelet, pointcloud_to_laserscan::PointCloudToLaserScanNodelet, nodelet::Nodelet);