plane_road_extraction_nodelet.cpp

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#include <pointcloud_segmentation/plane_road_extraction.h>

int main(int argc, char **argv)
{
    // Set up ROS.
    ros::init(argc, argv, "plane_road_extraction_nodelet");
    ros::NodeHandle n;
    
    // Variables from launch file
    string pointcloud_input;
    string pointcloud_road;
    string pointcloud_clusters;
    string pointcloud_road_perimeter;
    double threshold;
    
    // Declare the node class object
    plane_road_extraction<PointXYZRGB>  * extraction = new plane_road_extraction<PointXYZRGB>();
    
    // Read parameters from launch file
    ros::NodeHandle private_node_handle_("~");
    private_node_handle_.param("pointcloud_input", pointcloud_input, string("pointcloud_input"));
    private_node_handle_.param("pointcloud_road", pointcloud_road, string("pointcloud_road"));
    private_node_handle_.param("pointcloud_clusters", pointcloud_clusters, string("pointcloud_clusters"));
    private_node_handle_.param("pointcloud_road_perimeter", pointcloud_road_perimeter, string("pointcloud_road_perimeter"));
    private_node_handle_.param("z_min", extraction->z_min, double(extraction->z_min));
    private_node_handle_.param("z_max", extraction->z_max, double(extraction->z_max));
    private_node_handle_.param("threshold", threshold, double(threshold));
    
    // Subscribe a pointcloud message
    ros::Subscriber sub_cloud = n.subscribe(pointcloud_input.c_str(), 1000, &plane_road_extraction<PointXYZRGB>::filter, extraction);
    
    // Publish a pointcloud message
    ros::Publisher pub_road = n.advertise<sensor_msgs::PointCloud2>(pointcloud_road.c_str(), 10);
    ros::Publisher pub_clusters = n.advertise<sensor_msgs::PointCloud2>(pointcloud_clusters.c_str(), 10);
    ros::Publisher pub_road_perimeter= n.advertise<sensor_msgs::PointCloud2>(pointcloud_road_perimeter.c_str(), 10);
    
    // Set pointers
    extraction->pub_road_ptr=&pub_road;
    extraction->pub_clusters_ptr=&pub_clusters;
    extraction->pub_road_perimeter_ptr=&pub_road_perimeter;
    
    // Configure tf 
    tf::TransformListener listener;      // atc/vehicle/ground
    tf::TransformBroadcaster br;
    
    extraction->pms.listener_atc_ground_ptr=&listener;
    extraction->pms.broadcast_ptr=&br;

    // Configure your frame names
    extraction->pms.reference_ground_frame=(char *)(ros::names::remap("/atc/vehicle/ground")).c_str();
    extraction->pms.pub_frame_name=(char *)(ros::names::remap("/environment/road_frame")).c_str(); 
    extraction->pms.threshold=(float)(threshold);
    extraction->pms.debug=false;
    
    // Main loop.
    while (n.ok())
    {
        ros::spinOnce();
    }
    
    return 0;
}