Initial pointcloud to laserscan commit

2014-09-20 16:30:19 -04:00
parent fa30e01255
commit 85241bcb53
6 changed files with 309 additions and 0 deletions
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+/*
+ * Copyright (c) 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 the 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: Chad Rockey
+ */
+
+#ifndef POINTCLOUD_TO_LASERSCAN_ROS
+#define POINTCLOUD_TO_LASERSCAN_ROS
+
+#include <ros/ros.h>
+#include <boost/thread/mutex.hpp>
+
+#include <pcl/point_cloud.h>
+#include <pcl_ros/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/ros/conversions.h>
+
+#include <tf/transform_listener.h>
+
+namespace pointcloud_to_laserscan
+{ 
+typedef pcl::PointXYZ Point;
+typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
+
+
+class PointCloudToLaserScanBase
+{
+public:
+    
+
+    PointCloudToLaserScanBase(ros::NodeHandle& n, ros::NodeHandle& pnh, const unsigned int concurrency);
+    
+    ~PointCloudToLaserScanBase();
+
+private:
+
+    void cloudCb(const PointCloud::ConstPtr& cloud);
+
+    void connectCb();
+
+    void disconnectCb();
+    
+    ros::NodeHandle nh_;
+    ros::NodeHandle private_nh_;
+
+    ros::Publisher pub_;
+    ros::Subscriber sub_;
+
+    tf::TransformListener tf_;
+
+    boost::mutex connect_mutex_;
+    const unsigned int concurrency_;
+
+    std::string target_frame_;
+    float tolerance_;
+};
+
+
+} // pointcloud_to_laserscan
+
+#endif