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LaserPublisher.cpp
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LaserPublisher.cpp
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#ifdef ADEPT_PKG
#include <Aria.h>
#else
#include <Aria/Aria.h>
#endif
#include "LaserPublisher.h"
#include "ArTimeToROSTime.h"
#include <math.h>
#include <boost/algorithm/string.hpp>
// TODO publish pointcloud of cumulative readings in separate topic?
// TODO generic pointcloud sensor publisher (seprate point cloud stuff there)
// TODO make similar sonar publisher?
LaserPublisher::LaserPublisher(ArLaser *_l, ros::NodeHandle& _n, bool _broadcast_tf, const std::string& _tf_frame, const std::string& _parent_tf_frame, const std::string& _global_tf_frame) :
laserReadingsCB(this, &LaserPublisher::readingsCB),
node(_n),
laser(_l),
tfname(_tf_frame),
parenttfname(_parent_tf_frame),
globaltfname(_global_tf_frame),
broadcast_tf(_broadcast_tf)
{
assert(_l);
laser->lockDevice();
laser->addReadingCB(&laserReadingsCB);
laser->unlockDevice();
std::string laserscan_name(laser->getName());
boost::erase_all(laserscan_name,".");
laserscan_name += "_laserscan";
std::string pointcloud_name(laser->getName());
boost::erase_all(pointcloud_name,".");
pointcloud_name += "_pointcloud";
laserscan_pub = node.advertise<sensor_msgs::LaserScan>(laserscan_name, 20);
pointcloud_pub = node.advertise<sensor_msgs::PointCloud>(pointcloud_name, 50);
tf::Quaternion q;
if(laser->hasSensorPosition())
{
lasertf.setOrigin(tf::Vector3(laser->getSensorPositionX()/1000.0, laser->getSensorPositionY()/1000.0, laser->getSensorPositionZ()/1000.0));
q.setRPY(0, 0, ArMath::degToRad(laser->getSensorPositionTh()));
}
else
{
lasertf.setOrigin(tf::Vector3(0, 0, 0));
q.setRPY(0, 0, 0);
}
lasertf.setRotation(q);
// laser->setStartDegrees(-90);
// laser->setEndDegrees(90);
laserscan.header.frame_id = "laser_frame";
laserscan.angle_min = (float)ArMath::degToRad(laser->getStartDegrees());
laserscan.angle_max = (float)ArMath::degToRad(laser->getEndDegrees());
//laserscan.time_increment = ?
laserscan.range_min = 0; //laser->getMinRange() / 1000.0;
laserscan.range_max = (float)(laser->getMaxRange() / 1000.0);
pointcloud.header.frame_id = globaltfname;
// laser->setIncrement(1);
// Get angle_increment of the laser
laserscan.angle_increment = 0;
if(laser->canSetIncrement()) {
laserscan.angle_increment = (float)laser->getIncrement();
}
else if(laser->getIncrementChoice() != NULL) {
laserscan.angle_increment = (float)laser->getIncrementChoiceDouble();
}
assert(laserscan.angle_increment > 0);
laserscan.angle_increment *= M_PI/180.0;
//readingsCallbackTime = new ArTime;
}
LaserPublisher::~LaserPublisher()
{
laser->lockDevice();
laser->remReadingCB(&laserReadingsCB);
laser->unlockDevice();
//delete readingsCallbackTime;
}
void LaserPublisher::readingsCB()
{
//printf("readingsCB(): %lu ms since last readingsCB() call.\n", readingsCallbackTime->mSecSince());
assert(laser);
laser->lockDevice();
publishLaserScan();
publishPointCloud();
laser->unlockDevice();
if(broadcast_tf)
transform_broadcaster.sendTransform(tf::StampedTransform(lasertf, convertArTimeToROS(laser->getLastReadingTime()), parenttfname, tfname));
//readingsCallbackTime->setToNow();
}
void LaserPublisher::publishLaserScan()
{
laserscan.header.stamp = convertArTimeToROS(laser->getLastReadingTime());
const std::list<ArSensorReading*> *readings = laser->getRawReadings();
assert(readings);
//printf("laserscan: %lu readings\n", readings->size());
laserscan.ranges.resize(readings->size());
size_t n = 0;
if (laser->getFlipped()) {
// Reverse the data
for(std::list<ArSensorReading*>::const_reverse_iterator r = readings->rbegin(); r != readings->rend(); ++r)
{
assert(*r);
if ((*r)->getIgnoreThisReading()) {
laserscan.ranges[n] = 20.0;
// continue;
}
else {
laserscan.ranges[n] = (float)((*r)->getRange() / 1000.0);
}
++n;
}
}
else {
for(std::list<ArSensorReading*>::const_iterator r = readings->begin(); r != readings->end(); ++r)
{
assert(*r);
if ((*r)->getIgnoreThisReading()) {
laserscan.ranges[n] = 20.0;
}
else {
laserscan.ranges[n] = (float)((*r)->getRange() / 1000.0);
}
++n;
}
}
laserscan_pub.publish(laserscan);
}
void LaserPublisher::publishPointCloud()
{
assert(laser);
pointcloud.header.stamp = convertArTimeToROS(laser->getLastReadingTime());
assert(laser->getCurrentBuffer());
const std::list<ArPoseWithTime*> *p = laser->getCurrentRangeBuffer()->getBuffer();
assert(p);
pointcloud.points.resize(p->size());
size_t n = 0;
for(std::list<ArPoseWithTime*>::const_iterator i = p->begin(); i != p->end(); ++i)
{
assert(*i);
pointcloud.points[n].x = (float)((*i)->getX() / 1000.0);
pointcloud.points[n].y = (float)((*i)->getY() / 1000.0);
pointcloud.points[n].z = laser->hasSensorPosition() ? (float)(laser->getSensorPositionZ() / 1000.0) : (float)(0.0);
++n;
}
pointcloud_pub.publish(pointcloud);
}