laser_to_pc_nodelet.cpp

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#include <pointcloud_segmentation/laser_to_pc.h>

int main (int argc, char **argv)
{
    ROS_INFO("Started laser_to_pc_nodelet");
    ros::init(argc,argv,"laser_to_pc_nodelet");
    
    ros::NodeHandle n;
    
    // Variables to read from launch file
    string laser_input;
    string pointcloud_output;
    string frame_id;
    
    double min_x,min_y,max_x,max_y;
    
    // Declare the class node
    laser_to_pc  * las_to_pointcloud = new laser_to_pc;
    
    // Initialize ros parameters
    ros::NodeHandle private_node_handle_("~");
    private_node_handle_.param("laser_input", laser_input, string("laser_input"));
    private_node_handle_.param("pointcloud_output", pointcloud_output, string("pointcloud_output"));
    private_node_handle_.param("frame_id", frame_id, string("frame_id"));
    private_node_handle_.param("min_x", min_x, double(min_x));
    private_node_handle_.param("min_y", min_y, double(min_y));
    private_node_handle_.param("max_x", max_x, double(max_x));
    private_node_handle_.param("max_y", max_y, double(max_y));
    private_node_handle_.param("min_z", las_to_pointcloud->min_z, double(las_to_pointcloud->min_z));
    private_node_handle_.param("max_z", las_to_pointcloud->max_z, double(las_to_pointcloud->max_z));
    
    // Subscribe a pointcloud message
    ros::Subscriber sub_cloud = n.subscribe(laser_input.c_str(), 1000, &laser_to_pc::filter, las_to_pointcloud);
    
    // Publish a pointcloud message
    ros::Publisher pub_message = n.advertise<sensor_msgs::PointCloud2>(pointcloud_output.c_str(), 10);
    
    las_to_pointcloud->pub_ptr=&pub_message;
    
    // Pass a listener pointer and set frame_id
    tf::TransformListener listener;
    las_to_pointcloud->listener_ptr=&listener;
    las_to_pointcloud->frame_id=frame_id;
    
    // Set the convex hull properties
    PointXYZ point; point.z=0.0;
    point.x=min_x; point.y=max_y;
    las_to_pointcloud->convex_hull.points.push_back(point);
    point.x=max_x; point.y=max_y;
    las_to_pointcloud->convex_hull.points.push_back(point);
    point.x=max_x; point.y=min_y;
    las_to_pointcloud->convex_hull.points.push_back(point);
    point.x=min_x; point.y=min_y;
    las_to_pointcloud->convex_hull.points.push_back(point);
    las_to_pointcloud->convex_hull.header.frame_id=frame_id;
    
    
    // Main loop.
    while (n.ok())
    {
        ros::spinOnce();
    }
    
    return 1;
}