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Fix regressions

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This commit is contained in:
Paul Bovbel 2015-01-15 13:41:57 -05:00 committed by Paul Bovbel
parent eafe961c0c
commit de8a0aca3f
4 changed files with 23 additions and 21 deletions
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2
pointcloud_to_laserscan/launch/sample_node.launch
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@ -15,7 +15,7 @@
<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
<remap from="scan" to="$(arg camera)/scan"/>
<rosparam>
target_frame: base_link
target_frame: base_link # Leave empty for no transform
min_height: 0.0
max_height: 1.0

2
pointcloud_to_laserscan/launch/sample_nodelet.launch
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@ -15,7 +15,7 @@
<remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
<remap from="scan" to="$(arg camera)/scan"/>
<rosparam>
target_frame: base_link
target_frame: base_link # Leave empty for no transform
min_height: 0.0
max_height: 1.0

3
pointcloud_to_laserscan/package.xml
View File

@ -23,6 +23,7 @@
<build_depend>roscpp</build_depend>
<build_depend>roslaunch</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>tf2</build_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>libpcl-all-dev</run_depend>
@ -31,7 +32,7 @@
<run_depend>pcl_ros</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>openni2_launch</run_depend>
<run_depend>tf2</run_depend>
<export>
<nodelet plugin="${prefix}/nodelets.xml"/>

37
pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp
View File

@ -50,7 +50,7 @@ namespace pointcloud_to_laserscan
void PointCloudToLaserScanNodelet::onInit()
{
nh_ = getMTPrivateNodeHandle();
nh_ = getMTNodeHandle();
private_nh_ = getMTPrivateNodeHandle();
private_nh_.param<std::string>("target_frame", target_frame_, "");
@ -83,6 +83,24 @@ namespace pointcloud_to_laserscan
boost::bind(&PointCloudToLaserScanNodelet::disconnectCb, this));
}
void PointCloudToLaserScanNodelet::connectCb()
{
boost::mutex::scoped_lock lock(connect_mutex_);
if (!sub_ && pub_.getNumSubscribers() > 0) {
NODELET_DEBUG("Connecting to depth topic.");
sub_ = nh_.subscribe("cloud_in", input_queue_size_, &PointCloudToLaserScanNodelet::cloudCb, this);
}
}
void PointCloudToLaserScanNodelet::disconnectCb()
{
boost::mutex::scoped_lock lock(connect_mutex_);
if (pub_.getNumSubscribers() == 0) {
NODELET_DEBUG("Unsubscribing from depth topic.");
sub_.shutdown();
}
}
void PointCloudToLaserScanNodelet::cloudCb(const PointCloud::ConstPtr &cloud_msg)
{
//pointer to pointcloud data to transform to laserscan
@ -164,23 +182,6 @@ namespace pointcloud_to_laserscan
pub_.publish(output);
}
void PointCloudToLaserScanNodelet::connectCb()
{
boost::mutex::scoped_lock lock(connect_mutex_);
if (!sub_ && pub_.getNumSubscribers() > 0) {
NODELET_DEBUG("Connecting to depth topic.");
sub_ = nh_.subscribe("cloud_in", input_queue_size_, &PointCloudToLaserScanNodelet::cloudCb, this);
}
}
void PointCloudToLaserScanNodelet::disconnectCb()
{
boost::mutex::scoped_lock lock(connect_mutex_);
if (pub_.getNumSubscribers() == 0) {
NODELET_DEBUG("Unsubscribing from depth topic.");
sub_.shutdown();
}
}
}
PLUGINLIB_DECLARE_CLASS(pointcloud_to_laserscan, PointCloudToLaserScanNodelet, pointcloud_to_laserscan::PointCloudToLaserScanNodelet, nodelet::Nodelet);