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Finalize pointcloud to laserscan

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This commit is contained in:
Paul Bovbel
2014-10-05 14:55:00 -04:00
committed by Paul Bovbel
parent 85241bcb53
commit dc1cf04b07
8 changed files with 408 additions and 126 deletions
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pointcloud_to_laserscan/include/pointcloud_to_laserscan/PointCloudToLaserScanBase.h
+41 -31
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@@ -1,34 +1,41 @@
/*
* Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
* Software License Agreement (BSD License)
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* 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.
*
* * 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
/*
* Author: Paul Bovbel
*/
#ifndef POINTCLOUD_TO_LASERSCAN_ROS
@@ -47,15 +54,18 @@
namespace pointcloud_to_laserscan
{
typedef pcl::PointXYZ Point;
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef pcl::PointCloud<Point> PointCloud;
/**
* Class to process incoming pointclouds into laserscans. Some initial code was pulled from the defunct turtlebot
* pointcloud_to_laserscan implementation.
*/
class PointCloudToLaserScanBase
{
public:
PointCloudToLaserScanBase(ros::NodeHandle& n, ros::NodeHandle& pnh, const unsigned int concurrency);
PointCloudToLaserScanBase(ros::NodeHandle& nh, ros::NodeHandle& private_nh);
~PointCloudToLaserScanBase();
@@ -76,13 +86,13 @@ private:
tf::TransformListener tf_;
boost::mutex connect_mutex_;
const unsigned int concurrency_;
unsigned int input_queue_size_;
std::string target_frame_;
float 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