99 lines
2.9 KiB
C++
99 lines
2.9 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*/
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/*
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* Author: Paul Bovbel
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*/
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#ifndef POINTCLOUD_TO_LASERSCAN_ROS
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#define POINTCLOUD_TO_LASERSCAN_ROS
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#include <ros/ros.h>
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#include <boost/thread/mutex.hpp>
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#include <pcl/point_cloud.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/ros/conversions.h>
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#include <tf/transform_listener.h>
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namespace pointcloud_to_laserscan
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{
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typedef pcl::PointXYZ Point;
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typedef pcl::PointCloud<Point> PointCloud;
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/**
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* Class to process incoming pointclouds into laserscans. Some initial code was pulled from the defunct turtlebot
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* pointcloud_to_laserscan implementation.
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*/
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class PointCloudToLaserScanBase
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{
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public:
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PointCloudToLaserScanBase(ros::NodeHandle& nh, ros::NodeHandle& private_nh);
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~PointCloudToLaserScanBase();
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private:
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void cloudCb(const PointCloud::ConstPtr& cloud);
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void connectCb();
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void disconnectCb();
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ros::NodeHandle nh_;
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ros::NodeHandle private_nh_;
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ros::Publisher pub_;
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ros::Subscriber sub_;
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tf::TransformListener tf_;
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boost::mutex connect_mutex_;
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unsigned int input_queue_size_;
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std::string target_frame_;
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double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, range_max_;
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bool use_inf_;
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};
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} // pointcloud_to_laserscan
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#endif
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