/home/laradmin/lar/sensors/fusion/laser3D_pointcloud/src/main.cpp File Reference

Nodelet that uses las3D_PointCloud class to generate PointCloud from 2D scan data and external shaft position. This nodelet subscribes sensor_msgs::LaserScan, sensor_msgs::JointState, and projects the scan in to pointcloud, using the transform published by the pkg laser_rotate3D. The PointCloud is accumulated on the desired /ac_frame (see laser3D_pointcloud.lauch). More...

#include <laser3D_pointcloud/laser3D_pointcloud.h>

Include dependency graph for main.cpp:

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Functions
sensor_msgs::JointStatePtr	first_state1 (new sensor_msgs::JointState)
sensor_msgs::JointStatePtr	first_state2 (new sensor_msgs::JointState)
int	main (int argc, char **argv)
void	scan_cb (const sensor_msgs::LaserScan::ConstPtr &scan_in)
	Callback from the LaserScan subscribed topic.
void	state_cb (const sensor_msgs::JointState::ConstPtr &state_in)
	Callback from the JointState subscribed topic.
Variables
int	firstscan = 1
ros::Time	firstscan_stamp
las3D_PointCloud *	g_las3D
ros::Time	phi1_stamp
ros::Time	phi2_stamp
int	phis_count = 0

Detailed Description

Nodelet that uses las3D_PointCloud class to generate PointCloud from 2D scan data and external shaft position. This nodelet subscribes sensor_msgs::LaserScan, sensor_msgs::JointState, and projects the scan in to pointcloud, using the transform published by the pkg laser_rotate3D. The PointCloud is accumulated on the desired /ac_frame (see laser3D_pointcloud.lauch).