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LazyNodelet for surface/ConvexHull2D

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This commit is contained in:
Kentaro Wada 2017-08-22 16:08:45 +00:00 committed by Paul Bovbel
parent f0a28c9338
commit 7c70b159da
2 changed files with 36 additions and 11 deletions
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4
pcl_ros/include/pcl_ros/surface/convex_hull.h
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@ -63,6 +63,10 @@ namespace pcl_ros
/** \brief Nodelet initialization routine. */
virtual void onInit ();
/** \brief LazyNodelet connection routine. */
virtual void subscribe ();
virtual void unsubscribe ();
/** \brief Input point cloud callback.
* \param cloud the pointer to the input point cloud
* \param indices the pointer to the input point cloud indices

43
pcl_ros/src/pcl_ros/surface/convex_hull.cpp
View File

@ -44,20 +44,33 @@
void
pcl_ros::ConvexHull2D::onInit ()
{
ros::NodeHandle pnh = getMTPrivateNodeHandle ();
pub_output_ = pnh.advertise<PointCloud> ("output", max_queue_size_);
pub_plane_ = pnh.advertise<geometry_msgs::PolygonStamped>("output_polygon", max_queue_size_);
PCLNodelet::onInit ();
pub_output_ = advertise<PointCloud> (*pnh_, "output", max_queue_size_);
pub_plane_ = advertise<geometry_msgs::PolygonStamped> (*pnh_, "output_polygon", max_queue_size_);
// ---[ Optional parameters
pnh.getParam ("use_indices", use_indices_);
pnh_->getParam ("use_indices", use_indices_);
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - use_indices : %s",
getName ().c_str (),
(use_indices_) ? "true" : "false");
onInitPostProcess();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::ConvexHull2D::subscribe()
{
// If we're supposed to look for PointIndices (indices)
if (use_indices_)
{
// Subscribe to the input using a filter
sub_input_filter_.subscribe (pnh, "input", 1);
sub_input_filter_.subscribe (*pnh_, "input", 1);
// If indices are enabled, subscribe to the indices
sub_indices_filter_.subscribe (pnh, "indices", 1);
sub_indices_filter_.subscribe (*pnh_, "indices", 1);
if (approximate_sync_)
{
@ -76,12 +89,20 @@ pcl_ros::ConvexHull2D::onInit ()
}
else
// Subscribe in an old fashion to input only (no filters)
sub_input_ = pnh.subscribe<PointCloud> ("input", 1, bind (&ConvexHull2D::input_indices_callback, this, _1, PointIndicesConstPtr ()));
sub_input_ = pnh_->subscribe<PointCloud> ("input", 1, bind (&ConvexHull2D::input_indices_callback, this, _1, PointIndicesConstPtr ()));
}
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - use_indices : %s",
getName ().c_str (),
(use_indices_) ? "true" : "false");
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::ConvexHull2D::unsubscribe()
{
if (use_indices_)
{
sub_input_filter_.unsubscribe();
sub_indices_filter_.unsubscribe();
}
else
sub_input_.shutdown();
}
//////////////////////////////////////////////////////////////////////////////////////////////