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support for ROS Kinetic and newer; publishing cloud as shared pointer #1

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support for ROS Kinetic and newer; publishing cloud as shared pointer #1

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44 changes: 30 additions & 14 deletions src/transform_pointcloud.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,19 @@
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>

#include <pcl/pcl_base.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <pcl_conversions/pcl_conversions.h>

#include <pcl_ros/transforms.h>
#include <pcl_ros/point_cloud.h>




#include <pluginlib/class_list_macros.h>

namespace grull_transform_pointcloud {
Expand All @@ -12,30 +24,34 @@ namespace grull_transform_pointcloud {
ros::Subscriber sub;
std::string target_frame;
tf::TransformListener listener;

void callback(const sensor_msgs::PointCloud2::ConstPtr &msg) {
sensor_msgs::PointCloud2 output;
output.header.stamp = msg->header.stamp;//ros::Time::now();
sensor_msgs::PointCloud2::Ptr output = boost::make_shared<sensor_msgs::PointCloud2>();

try {
// listener.waitForTransform(target_frame, msg->header.frame_id, msg->header.stamp, ros::Duration(0.5));
listener.waitForTransform(target_frame, msg->header.frame_id, ros::Time(0), ros::Duration(10.0), ros::Duration(0.01));
if (pcl_ros::transformPointCloud(target_frame, *msg, output, listener)) {
// listener.waitForTransform(target_frame, msg->header.frame_id, msg->header.stamp, ros::Duration(0.5));
// listener.waitForTransform(target_frame, msg->header.frame_id, ros::Time(0), ros::Duration(10.0), ros::Duration(0.01))
if (pcl_ros::transformPointCloud(target_frame, *msg, *output, listener)) {
output->header.stamp = msg->header.stamp;//ros::Time::now();
pub.publish(output);
}
} catch (tf::TransformException ex) {
ROS_ERROR("%s",ex.what());
} catch (const tf::TransformException & ex) {
ROS_ERROR_STREAM(ex.what());
}
}

public:
virtual void onInit() {
getPrivateNodeHandle().getParam("target_frame", target_frame);
ros::NodeHandle n = getNodeHandle();
virtual void onInit() override {

ros::NodeHandle & n = getNodeHandle();
ros::NodeHandle & pn = getPrivateNodeHandle();


target_frame = pn.param<std::string>("target_frame", "");
pub = n.advertise<sensor_msgs::PointCloud2>("output_topic", 1, true);
sub = n.subscribe("input_topic", 1,&transform_pointcloud::callback, this);
sub = n.subscribe("input_topic", 1, &transform_pointcloud::callback, this);
}
};
}

PLUGINLIB_DECLARE_CLASS(grull_transform_pointcloud, transform_pointcloud,
grull_transform_pointcloud::transform_pointcloud, nodelet::Nodelet);

PLUGINLIB_EXPORT_CLASS(grull_transform_pointcloud::transform_pointcloud, nodelet::Nodelet);