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rajout paramètre random_pcl_pub

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-04-23 00:20:52 +02:00
parent cca1d5bb1b
commit e553dc0e8f
1 changed files with 43 additions and 5 deletions
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48
hand_control/src/random_pcl_publisher.cpp
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@ -12,9 +12,9 @@ typedef pcl::common::UniformGenerator<float> UGenerator;
class Generator class Generator
{ {
public: public:
Generator(int l) : length(l), cgen() Generator(int len, double m, double M) : length(len), min(m), max(M), cgen()
{ {
UGenerator::Parameters params(0, 900, -1); UGenerator::Parameters params(min, max, -1);
cgen.setParameters(params); cgen.setParameters(params);
} }
@ -40,16 +40,54 @@ class Generator
private: private:
pcl::common::CloudGenerator<pcl::PointXYZRGB, UGenerator> cgen; pcl::common::CloudGenerator<pcl::PointXYZRGB, UGenerator> cgen;
int length; int length;
double min, max;
}; };
int int
main(int argc, char** argv) main(int argc, char** argv)
{ {
ros::init(argc, argv, "random_pcl_publisher"); ros::init(argc, argv, "random_pcl_publisher");
ros::NodeHandle node; ros::NodeHandle node("random");
// paramètres
double freq;
if (node.getParam("freq", freq))
{
ROS_INFO("freq : %f" , freq);
} else {
node.setParam("freq", 10);
node.getParam("freq", freq);
ROS_INFO("freq : %f (default value)", freq);
}
double min, max;
if (node.getParam("min", min))
{
ROS_INFO("min : %f" , min);
} else {
node.setParam("min", 0.);
node.getParam("min", min);
ROS_INFO("min : %f (default value)", min);
}
if (node.getParam("max", max))
{
ROS_INFO("max : %f" , max);
} else {
node.setParam("max", 100.);
node.getParam("max", max);
ROS_INFO("max : %f (default value)", max);
}
int length;
if (node.getParam("length", length))
{
ROS_INFO("length : %d" , length);
} else {
node.setParam("length", 10);
node.getParam("length", length);
ROS_INFO("length : %d (default value)", length);
}
// initialisation
ros::Publisher publisher = node.advertise<PointCloud>("random_output", 1); ros::Publisher publisher = node.advertise<PointCloud>("random_output", 1);
Generator generator(5); Generator generator(length, min, max);
ros::Rate loop_rate(0.5); ros::Rate loop_rate(freq);
ROS_INFO("node started"); ROS_INFO("node started");
while (ros::ok()) while (ros::ok())
{ {