laserWriter.cpp

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// #include <laser_scan_to_text/laserWriter.h>

#include <ros/ros.h>
#include <string>
#include <iostream>
#include <fstream>
#include <vector>
#include <sensor_msgs/LaserScan.h>

class LaserWriter{
    public:
        int version;
        bool firstScan;
        std::string outFilePath;
        
        LaserWriter(const ros::NodeHandle& nh_,std::string outFile):
            nh(nh_),
            firstScan(true),
            outFilePath(outFile),
            version(1)
        {}
            
        ~LaserWriter()
        {}
        
        void setupMessaging()
        {
            laserSubscriber = nh.subscribe<sensor_msgs::LaserScan>("laserScan", 1000, &LaserWriter::laserScanHandler, this);
        }
        
        void laserScanHandler(const sensor_msgs::LaserScan::ConstPtr& scan)
        {
            std::ofstream outFile;
            
            if(firstScan){
                outFile.open(outFilePath, std::ios_base::out);
                outFile << "#Laser Scan in Text Format, version: " << version<< std::endl;
                outFile << "#Created by Jorge Almeida from ros/bag"<< std::endl;
                outFile << "angle_min: " << scan->angle_min<<" #rad "<<std::endl;
                outFile << "angle_max: " << scan->angle_max<<" #rad "<<std::endl;
                outFile << "angle_increment: " << scan->angle_increment<<" #rad "<<std::endl;
                outFile << "time_increment: " << scan->time_increment<<" #sec"<<std::endl;
                outFile << "scan_time: " << scan->scan_time<<" #sec"<<std::endl;
                outFile << "range_min: " << scan->range_min<<" #m"<< std::endl;
                outFile << "range_max: " << scan->range_max<<" #m"<< std::endl;
                outFile <<"#Format of each scan: TIMESTAMP RANGE_1 RANGE_2 ... [RANGE_N]"<<std::endl;
                firstScan = false;
            }else{
                outFile.open(outFilePath, std::ios_base::app);
            }
            
            
            outFile << scan->header.stamp << " ";
            for(float range : scan->ranges){
                outFile << range << " ";
            }
            
            outFile << std::endl;
        }
        
        void loop()
        {
            ros::spin();
        }
        
        ros::NodeHandle nh;
        ros::Subscriber laserSubscriber;
};

int main(int argc, char** argv)
{
    std::cout<<"Starting laserWriter"<<std::endl;
    ros::init(argc, argv, "laserWriter", ros::init_options::AnonymousName);
    ros::NodeHandle nh;

    LaserWriter laserWriter(nh,"/home/jorge14/Desktop/test1.txt");
    
    //Setup message advertise and subscription
    laserWriter.setupMessaging();
    
    std::cout<<"In main loop"<<std::endl;
    //Main program loop
    laserWriter.loop();

    return true;
};