Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

pcd_to_pointcloud: add latch param using transient_local QoS #459

Open
wants to merge 1 commit into
base: ros2
Choose a base branch
from
Open

pcd_to_pointcloud: add latch param using transient_local QoS #459

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 14 additions & 3 deletions pcl_ros/tools/pcd_to_pointcloud.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -69,20 +69,22 @@ class PCDPublisher : public rclcpp::Node

std::string file_name_, cloud_topic_;
size_t period_ms_;
bool latch_;

std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::PointCloud2>> pub_;
rclcpp::TimerBase::SharedPtr timer_;

////////////////////////////////////////////////////////////////////////////////
explicit PCDPublisher(const rclcpp::NodeOptions & options)
: rclcpp::Node("pcd_publisher", options), tf_frame_("/base_link")
: rclcpp::Node("pcd_publisher", options), tf_frame_("/base_link"), latch_(false)
{
// Maximum number of outgoing messages to be queued for delivery to subscribers = 1

cloud_topic_ = "cloud_pcd";
tf_frame_ = this->declare_parameter("tf_frame", tf_frame_);
period_ms_ = this->declare_parameter("publishing_period_ms", 3000);
file_name_ = this->declare_parameter<std::string>("file_name");
latch_ = this->declare_parameter("latch", false);

if (file_name_ == "" || pcl::io::loadPCDFile(file_name_, cloud_) == -1) {
RCLCPP_ERROR(this->get_logger(), "failed to open PCD file");
Expand All @@ -95,18 +97,27 @@ class PCDPublisher : public rclcpp::Node
auto resolved_cloud_topic =
this->get_node_topics_interface()->resolve_topic_name(cloud_topic_);

pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(cloud_topic_, 10);
auto qos = rclcpp::QoS(10);
if (latch_) {
qos = qos.transient_local();
}
pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(cloud_topic_, qos);
timer_ = this->create_wall_timer(
std::chrono::milliseconds(period_ms_),
[this]() {
this->publish();
});

std::string latch_info("");
if (latch_) {
latch_info = "latched ";
}
RCLCPP_INFO(
this->get_logger(),
"Publishing data with %d points (%s) on topic %s in frame %s.",
"Publishing data with %d points (%s) on %stopic %s in frame %s.",
nr_points,
fields_list.c_str(),
latch_info.c_str(),
resolved_cloud_topic.c_str(),
cloud_.header.frame_id.c_str());
}
Expand Down