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Optionally publish output_paths with a header #147

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Optionally publish output_paths with a header #147

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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@ add_message_files(
MeasurementDataMsg.msg
MonitoringCaseMsg.msg
OutputPathsMsg.msg
OutputPathsStampedMsg.msg
RawMicroScanDataMsg.msg
ScanPointMsg.msg
)
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1 change: 1 addition & 0 deletions README.md
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Expand Up @@ -142,6 +142,7 @@ All Parameters can be passed as commandline argument to the launch file.
| ------------- | ------ | ------- | ------------ | ------------- |
| sensor_ip | String | 192.168.1.11 | ✔ | IP address of the sensor. |
| host_ip | String | 192.168.1.9 | ✔ | IP address of the receiving host/target computer. |
| output_paths_header | Boolean | False | ✔ | If OutputPathsStampedMsg should be used instead of OutputPathsMsg. |
| interface_ip | String | 0.0.0.0 | | Interface IP address of the receiving host computer, this needs to be set if the host IP is in the multicast IP range. The default is an undefined IP address and will return an error when multicast is used without a correct interface |
| host_udp_port | Integer | 0 | | Host UDP Port. Zero allows system chosen port. |
| frame_id | String | scan | | The frame name of the sensor message |
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3 changes: 3 additions & 0 deletions include/sick_safetyscanners/SickSafetyscannersRos.h
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Expand Up @@ -52,6 +52,7 @@
#include <sick_safetyscanners/ExtendedLaserScanMsg.h>
#include <sick_safetyscanners/FieldData.h>
#include <sick_safetyscanners/OutputPathsMsg.h>
#include <sick_safetyscanners/OutputPathsStampedMsg.h>
#include <sick_safetyscanners/RawMicroScanDataMsg.h>
#include <sick_safetyscanners/SickSafetyscanners.h>
#include <sick_safetyscanners/SickSafetyscannersConfigurationConfig.h>
Expand Down Expand Up @@ -157,6 +158,8 @@ class SickSafetyscannersRos
dynamic_reconfigure::Server<sick_safetyscanners::SickSafetyscannersConfigurationConfig>
m_dynamic_reconfiguration_server;

bool m_output_paths_header;

std::string m_frame_id;
double m_time_offset;
double m_range_min;
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4 changes: 3 additions & 1 deletion launch/sick_safetyscanners.launch
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Expand Up @@ -16,7 +16,8 @@
<arg name="measurement_data" default="True" />
<arg name="intrusion_data" default="True" />
<arg name="application_io_data" default="True" />
<arg name="use_persistent_config" default="False" />
<arg name="use_persistent_config" default="False" />
<arg name="output_paths_header" default="False" />

<!-- Launch Sick SickSafetyscanners Ros Driver Node -->
<node pkg="sick_safetyscanners" type="sick_safetyscanners_node" name="sick_safetyscanners" output="screen" ns="sick_safetyscanners">
Expand All @@ -38,6 +39,7 @@
<param name="intrusion_data" type="bool" value="$(arg intrusion_data)" />
<param name="application_io_data" type="bool" value="$(arg application_io_data)" />
<param name="use_persistent_config" type="bool" value="$(arg use_persistent_config)" />
<param name="output_paths_header" type="bool" value="$(arg output_paths_header)" />
</node>


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2 changes: 2 additions & 0 deletions msg/OutputPathsStampedMsg.msg
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@@ -0,0 +1,2 @@
Header header
OutputPathsMsg output_paths
32 changes: 29 additions & 3 deletions src/SickSafetyscannersRos.cpp
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Expand Up @@ -62,8 +62,16 @@ SickSafetyscannersRos::SickSafetyscannersRos()
m_extended_laser_scan_publisher =
m_nh.advertise<sick_safetyscanners::ExtendedLaserScanMsg>("extended_laser_scan", 100);
m_raw_data_publisher = m_nh.advertise<sick_safetyscanners::RawMicroScanDataMsg>("raw_data", 100);
m_output_path_publisher =
m_nh.advertise<sick_safetyscanners::OutputPathsMsg>("output_paths", 100);
if (m_output_paths_header)
{
m_output_path_publisher =
m_nh.advertise<sick_safetyscanners::OutputPathsStampedMsg>("output_paths", 100);
}
else
{
m_output_path_publisher =
m_nh.advertise<sick_safetyscanners::OutputPathsMsg>("output_paths", 100);
}
m_field_service_server =
m_nh.advertiseService("field_data", &SickSafetyscannersRos::getFieldData, this);

Expand Down Expand Up @@ -196,6 +204,12 @@ bool SickSafetyscannersRos::readParameters()
}
m_communication_settings.setHostUdpPort(host_udp_port);

m_output_paths_header = false;
if (!m_private_nh.getParam("output_paths_header", m_output_paths_header))
{
ROS_WARN("Using default OutputPathsMsg (without header).");
}

ROS_WARN("If not further specified the default values for the dynamic reconfigurable parameters "
"will be loaded.");

Expand Down Expand Up @@ -281,7 +295,19 @@ void SickSafetyscannersRos::receivedUDPPacket(const sick::datastructure::Data& d
m_extended_laser_scan_publisher.publish(extended_scan);

sick_safetyscanners::OutputPathsMsg output_paths = createOutputPathsMessage(data);
m_output_path_publisher.publish(output_paths);
if (m_output_paths_header)
{
sick_safetyscanners::OutputPathsStampedMsg stamped_output_paths;
stamped_output_paths.header.seq = extended_scan.laser_scan.header.seq;
stamped_output_paths.header.stamp = extended_scan.laser_scan.header.stamp;
stamped_output_paths.header.frame_id = extended_scan.laser_scan.header.frame_id;
stamped_output_paths.output_paths = output_paths;
m_output_path_publisher.publish(stamped_output_paths);
}
else
{
m_output_path_publisher.publish(output_paths);
}
}

m_last_raw_data = createRawDataMessage(data);
Expand Down