X-lanni
86 lines
3.3 KiB
C++
86 lines
3.3 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2020, Open Source Robotics Foundation, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*/
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#include <memory>
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#include <random>
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#include "rclcpp/rclcpp.hpp"
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#include "sensor_msgs/msg/point_cloud2.hpp"
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#include "sensor_msgs/point_cloud2_iterator.hpp"
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int main(int argc, char * argv[])
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{
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rclcpp::init(argc, argv);
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auto node = std::make_shared<rclcpp::Node>("dummy_pointcloud_publisher");
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auto pub =
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node->create_publisher<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::SensorDataQoS());
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sensor_msgs::msg::PointCloud2 dummy_cloud;
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sensor_msgs::PointCloud2Modifier modifier(dummy_cloud);
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modifier.setPointCloud2Fields(
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3,
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"x", 1, sensor_msgs::msg::PointField::FLOAT32,
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"y", 1, sensor_msgs::msg::PointField::FLOAT32,
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"z", 1, sensor_msgs::msg::PointField::FLOAT32);
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modifier.resize(node->declare_parameter("cloud_size", 100));
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std::mt19937 gen(node->declare_parameter("cloud_seed", 0));
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double extent = node->declare_parameter("cloud_extent", 10.0);
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std::uniform_real_distribution<float> distribution(-extent / 2, extent / 2);
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sensor_msgs::PointCloud2Iterator<float> it_x(dummy_cloud, "x");
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sensor_msgs::PointCloud2Iterator<float> it_y(dummy_cloud, "y");
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sensor_msgs::PointCloud2Iterator<float> it_z(dummy_cloud, "z");
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for (; it_x != it_x.end(); ++it_x, ++it_y, ++it_z) {
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*it_x = distribution(gen);
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*it_y = distribution(gen);
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*it_z = distribution(gen);
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}
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dummy_cloud.header.frame_id = node->declare_parameter("cloud_frame_id", "");
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rclcpp::executors::SingleThreadedExecutor executor;
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executor.add_node(node);
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rclcpp::Rate rate(1.0);
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while (rclcpp::ok()) {
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dummy_cloud.header.stamp = node->get_clock()->now();
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pub->publish(dummy_cloud);
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executor.spin_some();
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rate.sleep();
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}
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rclcpp::shutdown();
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return 0;
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}
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