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Fix obsolete code in rplidar_node_client #1

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Fix obsolete code in rplidar_node_client #1

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47 changes: 30 additions & 17 deletions src/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,31 +35,44 @@
*/


#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <memory>

#define ROS_INFO RCUTILS_LOG_INFO
#include "rclcpp/rclcpp.hpp"
#include <sensor_msgs/msg/laser_scan.hpp>
using std::placeholders::_1;

#define M_PI 3.1415926535897932384626433832795
#define RAD2DEG(x) ((x)*180./M_PI)

void scanCallback(const std::shared_ptr<sensor_msgs::msg::LaserScan> scan)
class RplidarNodeClient : public rclcpp::Node
{
int count = scan->scan_time / scan->time_increment;
ROS_INFO("I heard a laser scan %s[%d]:", scan->header.frame_id.c_str(), count);
ROS_INFO("angle_range, %f, %f", RAD2DEG(scan->angle_min), RAD2DEG(scan->angle_max));
public:
RplidarNodeClient()
: Node("rplidar_node_client")
{
subscription_ = this->create_subscription<sensor_msgs::msg::LaserScan>(
"scan/", 10, std::bind(&RplidarNodeClient::scan_callback, this, _1));
}

for(int i = 0; i < count; i++) {
float degree = RAD2DEG(scan->angle_min + scan->angle_increment * i);
ROS_INFO(": [%f, %f]", degree, scan->ranges[i]);
private:
void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr scan) const
{
int count = scan->scan_time / scan->time_increment;
RCLCPP_INFO(this->get_logger(), "I heard a laser scan %s[%d]:", scan->header.frame_id.c_str(), count);
RCLCPP_INFO(this->get_logger(), "angle_range, %f, %f", RAD2DEG(scan->angle_min), RAD2DEG(scan->angle_max));

for(int i = 0; i < count; i++) {
float degree = RAD2DEG(scan->angle_min + scan->angle_increment * i);
RCLCPP_INFO(this->get_logger(), ": [%f, %f]", degree, scan->ranges[i]);
}
}
}
rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr subscription_;
};

int main(int argc, char **argv)
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("rplidar_node_client");
auto sub = node->create_subscription<sensor_msgs::msg::LaserScan>("/scan", scanCallback);
rclcpp::spin(node);
return 0;
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<RplidarNodeClient>());
rclcpp::shutdown();
return 0;
}