A nodelet converting laser scans to point clouds. More...

Public Member Functions
void	onInit ()
void	onInit ()
void	scanCallback (const sensor_msgs::LaserScan::ConstPtr &scanMsg)
void	scanCallback (const sensor_msgs::LaserScan::ConstPtr &scanMsg)
	ScanToPointCloud ()
	ScanToPointCloud ()
virtual	~ScanToPointCloud ()
virtual	~ScanToPointCloud ()
Private Attributes
int	channelOptions
	channelOptions Channels to extract.
ros::Publisher	pointCloudPublisher
int	pointCloudQueue
	Point cloud queue size.
laser_geometry::LaserProjection	projector
int	scanQueue
	Scan queue size.
ros::Subscriber	scanSubscriber
std::string	targetFrame
tf::TransformListener	transformListener
double	waitForTransform

Detailed Description

A nodelet converting laser scans to point clouds.

This nodelet converts scans (i.e., sensor_msgs::LaserScan messages) to point clouds (i.e., to sensor_msgs::PointCloud2 messages).

Definition at line 21 of file scan_to_point_cloud.cpp.

Constructor & Destructor Documentation

point_cloud_color::ScanToPointCloud::ScanToPointCloud ( )

Definition at line 39 of file scan_to_point_cloud.cpp.

point_cloud_color::ScanToPointCloud::~ScanToPointCloud ( ) [virtual]

Definition at line 42 of file scan_to_point_cloud.cpp.

point_cloud_color::ScanToPointCloud::ScanToPointCloud ( )

virtual point_cloud_color::ScanToPointCloud::~ScanToPointCloud ( ) [virtual]

Member Function Documentation

void point_cloud_color::ScanToPointCloud::onInit ( )

Definition at line 45 of file scan_to_point_cloud.cpp.

void point_cloud_color::ScanToPointCloud::scanCallback ( const sensor_msgs::LaserScan::ConstPtr & scanMsg )

Definition at line 77 of file scan_to_point_cloud.cpp.

Member Data Documentation

int point_cloud_color::ScanToPointCloud::channelOptions [private]

channelOptions Channels to extract.

Channels to extract, see laser_geometry.h for details. 0x00 - no channels enabled, 0x01 - enable intensity (default), 0x02 - enable index (default), 0x04 - enable distance, 0x08 - enable stamps, 0x10 - enable viewpoint.

Definition at line 41 of file scan_to_point_cloud2.cpp.

ros::Publisher point_cloud_color::ScanToPointCloud::pointCloudPublisher [private]

Definition at line 36 of file scan_to_point_cloud.cpp.

int point_cloud_color::ScanToPointCloud::pointCloudQueue [private]

Point cloud queue size.

Definition at line 32 of file scan_to_point_cloud.cpp.

laser_geometry::LaserProjection point_cloud_color::ScanToPointCloud::projector [private]

Definition at line 35 of file scan_to_point_cloud.cpp.

int point_cloud_color::ScanToPointCloud::scanQueue [private]

Scan queue size.

Definition at line 31 of file scan_to_point_cloud.cpp.

ros::Subscriber point_cloud_color::ScanToPointCloud::scanSubscriber [private]