Remove header file (#6)

* Update CMakeLists.txt * Remove header file
ToshikiNakamura0412 · May 6, 2024 · 2d7fcf8 · 2d7fcf8
1 parent 8319b47
commit 2d7fcf8
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Showing 4 changed files with 48 additions and 88 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -14,22 +14,15 @@ find_package(catkin REQUIRED COMPONENTS
 ###################################
 ## catkin specific configuration ##
 ###################################
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES scan_to_pcl_ros
-  # CATKIN_DEPENDS other_catkin_pkg
-  # DEPENDS system_lib
-)
+catkin_package()
 
 ###########
 ## Build ##
 ###########
 include_directories(include ${catkin_INCLUDE_DIRS})
 
-add_library(${PROJECT_NAME} src/scan_to_pcl.cpp)
-add_executable(scan_to_pcl src/scan_to_pcl_node.cpp)
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(scan_to_pcl ${PROJECT_NAME} ${catkin_LIBRARIES})
+add_executable(scan_to_pcl_node src/scan_to_pcl.cpp)
+target_link_libraries(scan_to_pcl_node ${catkin_LIBRARIES})
 
 #############
 ## Testing ##

diff --git a/include/scan_to_pcl_ros/scan_to_pcl_ros.h b/include/scan_to_pcl_ros/scan_to_pcl_ros.h
diff --git a/src/scan_to_pcl.cpp b/src/scan_to_pcl.cpp
@@ -5,37 +5,57 @@
  * @copyright Copyright (c) 2024
  */
 
+#include <laser_geometry/laser_geometry.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl_ros/point_cloud.h>
+#include <ros/ros.h>
+#include <sensor_msgs/LaserScan.h>
+#include <sensor_msgs/PointCloud2.h>
 #include <string>
+#include <tf/transform_listener.h>
 
-#include "scan_to_pcl_ros/scan_to_pcl_ros.h"
-
-ScanToPcl::ScanToPcl() : private_nh_("~")
+class ScanToPcl
 {
-  private_nh_.param<int>("hz", hz_, 10);
-  private_nh_.param<std::string>("frame_id", frame_id_, "base_link");
-  hokuyo_sub_ = nh_.subscribe("/scan", 1, &ScanToPcl::hokuyo_callback, this);
-  pcl_from_scan_pub_ = nh_.advertise<pcl::PointCloud<pcl::PointXYZ>>("/pcl_from_scan", 1);
-}
+public:
+  ScanToPcl() : private_nh_("~")
+  {
+    private_nh_.param<std::string>("frame_id", frame_id_, std::string("base_scan"));
 
-void ScanToPcl::hokuyo_callback(const sensor_msgs::LaserScan::ConstPtr &scan_in)
-{
-  laser_geometry::LaserProjection projector;
-  sensor_msgs::PointCloud2 cloud;
-  projector.projectLaser(*scan_in, cloud);  // convert a sensor_msgs/LaserScan to a sensor_msgs/PointCloud
-
-  // Publish the new point cloud.
-  cloud.header.frame_id = frame_id_;
-  cloud.header.stamp = scan_in->header.stamp;
-  pcl_from_scan_pub_.publish(cloud);
-}
+    cloud_pub_ = nh_.advertise<pcl::PointCloud<pcl::PointXYZ>>("/cloud", 1);
+    scan_sub_ = nh_.subscribe("/scan", 1, &ScanToPcl::scan_callback, this);
 
-void ScanToPcl::process()
-{
-  ros::Rate loop_rate(hz_);
+    tf_listener_.setExtrapolationLimit(ros::Duration(0.1));
+
+    ROS_INFO_STREAM(ros::this_node::getName() << " node has started..");
+    ROS_INFO_STREAM("frame_id: " << frame_id_);
+  }
 
-  while (ros::ok())
+private:
+  void scan_callback(const sensor_msgs::LaserScan::ConstPtr &msg)
   {
-    ros::spinOnce();
-    loop_rate.sleep();
+    laser_geometry::LaserProjection projector;
+    sensor_msgs::PointCloud2 cloud;
+    projector.transformLaserScanToPointCloud(frame_id_, *msg, cloud, tf_listener_);
+    cloud.header.frame_id = frame_id_;
+    cloud.header.stamp = ros::Time::now();
+    cloud_pub_.publish(cloud);
   }
+
+  std::string frame_id_;
+
+  ros::NodeHandle nh_;
+  ros::NodeHandle private_nh_;
+  ros::Publisher cloud_pub_;
+  ros::Subscriber scan_sub_;
+
+  tf::TransformListener tf_listener_;
+};
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "scan_to_pcl");
+  ScanToPcl scan_to_pcl;
+  ros::spin();
+
+  return 0;
 }
diff --git a/src/scan_to_pcl_node.cpp b/src/scan_to_pcl_node.cpp