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now also works without specifying publishing interval like described in the wiki. Also renamed rate_ to time_ since it is no rate

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Kai Franke 2013-02-20 08:59:27 -08:00 committed by Paul Bovbel
parent f7e8a659a9
commit c6a48a583f
1 changed files with 19 additions and 8 deletions
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27
pcl_ros/tools/pcd_to_pointcloud.cpp
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@ -65,7 +65,7 @@ class PCDGenerator
sensor_msgs::PointCloud2 cloud_; sensor_msgs::PointCloud2 cloud_;
string file_name_, cloud_topic_; string file_name_, cloud_topic_;
double rate_; double wait_;
pcl_ros::Publisher<sensor_msgs::PointCloud2> pub_; pcl_ros::Publisher<sensor_msgs::PointCloud2> pub_;
@ -97,7 +97,7 @@ class PCDGenerator
{ {
int nr_points = cloud_.width * cloud_.height; int nr_points = cloud_.width * cloud_.height;
string fields_list = pcl::getFieldsList (cloud_); string fields_list = pcl::getFieldsList (cloud_);
double interval = rate_ * 1e+6; double interval = wait_ * 1e+6;
while (nh_.ok ()) while (nh_.ok ())
{ {
ROS_DEBUG_ONCE ("Publishing data with %d points (%s) on topic %s in frame %s.", nr_points, fields_list.c_str (), nh_.resolveName (cloud_topic_).c_str (), cloud_.header.frame_id.c_str ()); ROS_DEBUG_ONCE ("Publishing data with %d points (%s) on topic %s in frame %s.", nr_points, fields_list.c_str (), nh_.resolveName (cloud_topic_).c_str (), cloud_.header.frame_id.c_str ());
@ -110,17 +110,20 @@ class PCDGenerator
} }
else else
{ {
ros::Duration (0.001).sleep (); // check once a second if there is any subscriber
ros::Duration (1).sleep ();
continue; continue;
} }
usleep (interval); usleep (interval);
if (interval == 0) // We only publish once if a 0 seconds interval is given if (interval == 0) // We only publish once if a 0 seconds interval is given
{
// Give subscribers 3 seconds until point cloud decays... a little ugly!
ros::Duration (3.0).sleep ();
break; break;
}
} }
ros::Duration (3.0).sleep ();
return (true); return (true);
} }
@ -131,7 +134,7 @@ class PCDGenerator
int int
main (int argc, char** argv) main (int argc, char** argv)
{ {
if (argc < 3) if (argc < 2)
{ {
std::cerr << "Syntax is: " << argv[0] << " <file.pcd> [publishing_interval (in seconds)]" << std::endl; std::cerr << "Syntax is: " << argv[0] << " <file.pcd> [publishing_interval (in seconds)]" << std::endl;
return (-1); return (-1);
@ -141,7 +144,15 @@ int
PCDGenerator c; PCDGenerator c;
c.file_name_ = string (argv[1]); c.file_name_ = string (argv[1]);
c.rate_ = atof (argv[2]); // check if publishing interval is given
if (argc == 2)
{
c.wait_ = 0;
}
else
{
c.wait_ = atof (argv[2]);
}
if (c.start () == -1) if (c.start () == -1)
{ {