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 <laser_3d_pointcloud/laser_3d_pointcloud.h>

Include dependency graph for main.cpp:

Go to the source code of this file.

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. More...
void	state_cb (const sensor_msgs::JointState::ConstPtr &state_in)
	Callback from the JointState subscribed topic. More...

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).

Author

Diogo Matos

Date

June 2013

Definition in file main.cpp.

Function Documentation

sensor_msgs::JointStatePtr first_state1

(

new sensor_msgs::JointState

)

sensor_msgs::JointStatePtr first_state2

(

new sensor_msgs::JointState

)

int main	(	int	argc,
		char **	argv
	)

Definition at line 218 of file main.cpp.

void scan_cb

(

const sensor_msgs::LaserScan::ConstPtr &

scan_in

)

Callback from the LaserScan subscribed topic.

Parameters

[in]

const

sensor_msgs::LaserScan::ConstPtr&

Definition at line 85 of file main.cpp.

void state_cb

(

const sensor_msgs::JointState::ConstPtr &

state_in

)

Callback from the JointState subscribed topic.

Parameters

[in]

const

sensor_msgs::JointState::ConstPtr&

Definition at line 54 of file main.cpp.

Variable Documentation

int firstscan =1

Definition at line 42 of file main.cpp.

ros::Time firstscan_stamp

Definition at line 43 of file main.cpp.

las3D_PointCloud* g_las3D

Definition at line 40 of file main.cpp.

ros::Time phi1_stamp

Definition at line 44 of file main.cpp.

ros::Time phi2_stamp

Definition at line 45 of file main.cpp.

int phis_count =0

Definition at line 41 of file main.cpp.