/home/laradmin/lar/utils/pc_accumulation/src/pc_accumulation_nodelet.cpp

Go to the documentation of this file.

/**************************************************************************************************
 Software License Agreement (BSD License)

 Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
 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 the University of Aveiro 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 HOLDER 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.
***************************************************************************************************/
#define PFLN {printf("%s %d\n",__FILE__, __LINE__);}

#include <pc_accumulation/pc_accumulation.h>
//GLOBAL VARIABLES
ros::Publisher cloud_pc_laserScan;
ros::Publisher cloud_pc_pointcloud;
pc_accumulation *p_lib;
double distance_from, timer_value;
std::string laser_topic,pc_topic,acc_frame;


bool process_laser_scan[5]={false,false,false,false,false};
bool process_point_cloud[5]={false,false,false,false,false};


void OdometryCallBack (const nav_msgs::OdometryConstPtr & odom_in)
{
       p_lib->odometry_=*odom_in;   
}

void pointcloud_Callback(const sensor_msgs::PointCloud2Ptr& image)
{
       p_lib->pointcloud_accumulated(*image,acc_frame);
}

void laserscan_Callback(const sensor_msgs::LaserScanPtr& scan_in)
{
       p_lib->pointcloud_accumulated(*scan_in,acc_frame);
}


void Remove_Publish(const ros::TimerEvent&)
{
        sensor_msgs::PointCloud2 msg; 
        p_lib->remove_points_from_pointcloud(p_lib->pcl_pc_acc,distance_from, acc_frame);
        pcl::toROSMsg(p_lib->pcl_pc_acc,msg);
        cloud_pc_pointcloud.publish(msg);
}


int main(int argc, char **argv)
{
        ros::init(argc, argv, "nodelet"); // Initialize ROS coms
        ros::NodeHandle n("~"); //The node handle
//           T=ros::Time::now();
        //Check topic remapping
        //Test the remapping of the /laserscan s
        for (int i=0; i<5; i++)
        {       
                char str[1024];
                sprintf(str,"/laserscan%d", i);
                if (ros::names::remap(str)!=str)
                {
                        process_laser_scan[i] = true;
                }
        }

        //Test the remapping of the /pointcloud s
        for (int i=0; i<5; i++)
        {       
                char str[1024];
                sprintf(str,"/pointcloud%d", i);
                if (ros::names::remap(str)!=str)
                {
                        process_point_cloud[i] = true;
                }
        }
        std::vector<ros::Subscriber> sub;
        //Creates ROS subscribers if the laserscan topics where remapped
        for (int i=0; i<5; i++)
        {
                if (process_laser_scan[i]==true)
                {
                        char str[1024];
                        sprintf(str,"/laserscan%d", i);
                        ros::Subscriber sub_ = n.subscribe (str, 1, laserscan_Callback);
                        ROS_INFO("Subscribing to %s", (ros::names::remap(str)).c_str());
                        sub.push_back(sub_);
                }
        }

        //Creates ROS subscribers if the pointcloud topics where remapped
        for (int i=0; i<5; i++)
        {
                if (process_point_cloud[i]==true)
                {
                        char str[1024];
                        sprintf(str,"/pointcloud%d", i);
                        ros::Subscriber sub_ = n.subscribe (str, 1, pointcloud_Callback);
                        ROS_INFO("Subscribing to %s", (ros::names::remap(str)).c_str());
                                ROS_INFO("REcebeu pointcloud");
                        sub.push_back(sub_);
                }
        }


        if (sub.size()==0)
        {
                ROS_ERROR("No /laserscan[0 4] or /pointcloud[0 4] where remapped. Aborting...");
                ros::shutdown();
        }


        //Check param remapping
        if (!n.hasParam("acc_frame")) //
        {
                ROS_ERROR("Didn't introduce a accumulation frame");
                return -1;
        }
        else
        {
                n.getParam("acc_frame",acc_frame);
        }


        //verify accumulation parameters 
        if (!n.hasParam("distance_from"))
                ROS_WARN("distance for accumulation 15 meters");
        else
                n.param("distance_from",distance_from, 15.0);

        if (!n.hasParam("timer_value"))
                ROS_WARN("Frequency of publication 2.0 sec");
        else
                n.param("timer_value",timer_value, 2.0);

        
        
              // Declaration class
              pc_accumulation lib;
             
              
        if (!n.hasParam("voxel_size"))
                 ROS_WARN("Voxel_size Default 0.4 meter");
        else
                 n.param("voxel_size",lib.voxel_size, 0.4);
        //remap string
        string removed_from;
        if (!n.hasParam("removed_from"))
        {
                    ROS_ERROR("Remove from frame not Defined");
                    return -1;
        }
        else
                    n.getParam("removed_from",removed_from);

        lib._acc_frame_id=removed_from;

        //Pointer to lib
        p_lib=&lib;
        
        //Remove&Publish accumulated pointcloud
        ros::Timer timer = n.createTimer(ros::Duration(timer_value), Remove_Publish);

        tf::TransformListener listener(n,ros::Duration(10));
        // Transform Listener
        lib.p_listener=&listener;
        //  Node Handle
        lib.p_n=&n;

        cloud_pc_pointcloud = n.advertise<sensor_msgs::PointCloud2>("/pc_out_pointcloud", 1);
        ros::Subscriber odom = n.subscribe ("odometry_topic", 1, OdometryCallBack);


        ros::Rate loop_rate(50);
        ros::spin();


        return 0;
}

---

pc_accumulation
Author(s): Pedro Salvado
autogenerated on Wed Jul 23 04:33:17 2014