laserscan_multi_merger代码解析

laserscan_multi_merger是基于ROS的将多个激光雷达传感器扫描的topic整合成一个topic的工具。

先上代码，然后一句一句解读

#include <ros/ros.h>

#include <string.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <laser_geometry/laser_geometry.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h> 
#include "sensor_msgs/LaserScan.h"
#include "pcl_ros/point_cloud.h"
#include <Eigen/Dense>
#include <dynamic_reconfigure/server.h>
#include <ira_laser_tools/laserscan_multi_mergerConfig.h>


using namespace std;
using namespace pcl;
using namespace laserscan_multi_merger;


class LaserscanMerger
{
public:
    LaserscanMerger();
    void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan, std::string topic);
    void pointcloud_to_laserscan(Eigen::MatrixXf points, pcl::PCLPointCloud2 *merged_cloud, const sensor_msgs::LaserScan::ConstPtr& scan);
    void reconfigureCallback(laserscan_multi_mergerConfig &config, uint32_t level);


private:
    ros::NodeHandle node_;
    laser_geometry::LaserProjection projector_;
    tf::TransformListener tfListener_;


    ros::Publisher point_cloud_publisher_;
    ros::Publisher laser_scan_publisher_;
    vector<ros::Subscriber> scan_subscribers;
    vector<bool> clouds_modified;


    vector<pcl::PCLPointCloud2> clouds;
    vector<string> input_topics;


    void laserscan_topic_parser();


    double angle_min;
    double angle_max;
    double angle_increment;
    double time_increment;
    double scan_time;
    double range_min;
    double range_max;


    string destination_frame;
    string cloud_destination_topic;
    string scan_destination_topic;
    string laserscan_topics;
};
//
//
void LaserscanMerger::reconfigureCallback(laserscan_multi_mergerConfig &config, uint32_t level)
{
this->angle_min = config.angle_min;
this->angle_max = config.angle_max;
this->angle_increment = config.angle_increment;
this->time_increment = config.time_increment;
this->scan_time = config.scan_time;
this->range_min = config.range_min;
this->range_max = config.range_max;
}