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Patching topic, timing, and field issues #7

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Patching topic, timing, and field issues #7

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2c37545
Fixing Topic issue
ruffsl Feb 19, 2016
7637c09
Switching the using latest scan's time stamp so sensor data timing is…
ruffsl Feb 19, 2016
271f8cd
Fixing issue with pointcloud field mismatch
ruffsl Feb 19, 2016
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21 changes: 6 additions & 15 deletions src/laserscan_multi_merger.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ class LaserscanMerger
public:
LaserscanMerger();
void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan, std::string topic);
void pointcloud_to_laserscan(Eigen::MatrixXf points, pcl::PCLPointCloud2 *merged_cloud);
void pointcloud_to_laserscan(Eigen::MatrixXf points, pcl::PCLPointCloud2 *merged_cloud, const sensor_msgs::LaserScan::ConstPtr& scan);
void reconfigureCallback(laserscan_multi_mergerConfig &config, uint32_t level);

private:
Expand Down Expand Up @@ -71,9 +71,6 @@ void LaserscanMerger::reconfigureCallback(laserscan_multi_mergerConfig &config,
void LaserscanMerger::laserscan_topic_parser()
{
// LaserScan topics to subscribe
ros::master::V_TopicInfo topics;
ros::master::getTopics(topics);

istringstream iss(laserscan_topics);
vector<string> tokens;
copy(istream_iterator<string>(iss), istream_iterator<string>(), back_inserter<vector<string> >(tokens));
Expand All @@ -82,13 +79,7 @@ void LaserscanMerger::laserscan_topic_parser()

for(int i=0;i<tokens.size();++i)
{
for(int j=0;j<topics.size();++j)
{
if( (tokens[i].compare(topics[j].name) == 0) && (topics[j].datatype.compare("sensor_msgs/LaserScan") == 0) )
{
tmp_input_topics.push_back(topics[j].name);
}
}
tmp_input_topics.push_back(tokens[i]);
}

sort(tmp_input_topics.begin(),tmp_input_topics.end());
Expand Down Expand Up @@ -148,7 +139,7 @@ void LaserscanMerger::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan,
// Verify that TF knows how to transform from the received scan to the destination scan frame
tfListener_.waitForTransform(scan->header.frame_id.c_str(), destination_frame.c_str(), scan->header.stamp, ros::Duration(1));

projector_.transformLaserScanToPointCloud(scan->header.frame_id, *scan, tmpCloud1, tfListener_);
projector_.transformLaserScanToPointCloud(scan->header.frame_id, *scan, tmpCloud1, tfListener_, laser_geometry::channel_option::Distance);
try
{
tfListener_.transformPointCloud(destination_frame.c_str(), tmpCloud1, tmpCloud2);
Expand Down Expand Up @@ -187,16 +178,16 @@ void LaserscanMerger::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan,
Eigen::MatrixXf points;
getPointCloudAsEigen(merged_cloud,points);

pointcloud_to_laserscan(points, &merged_cloud);
pointcloud_to_laserscan(points, &merged_cloud, scan);
}
}

void LaserscanMerger::pointcloud_to_laserscan(Eigen::MatrixXf points, pcl::PCLPointCloud2 *merged_cloud)
void LaserscanMerger::pointcloud_to_laserscan(Eigen::MatrixXf points, pcl::PCLPointCloud2 *merged_cloud, const sensor_msgs::LaserScan::ConstPtr& scan)
{
sensor_msgs::LaserScanPtr output(new sensor_msgs::LaserScan());
output->header = pcl_conversions::fromPCL(merged_cloud->header);
output->header.frame_id = destination_frame.c_str();
output->header.stamp = ros::Time::now(); //fixes #265
output->header.stamp = scan->header.stamp;
output->angle_min = this->angle_min;
output->angle_max = this->angle_max;
output->angle_increment = this->angle_increment;
Expand Down