对LaserscanMerger::laserscan_topic_parser()的代码分析

void LaserscanMerger::laserscan_topic_parser()
{
// LaserScan topics to subscribe
ros::master::V_TopicInfo topics;
ros::master::getTopics(topics);


    istringstream iss(laserscan_topics);//获取两个激光雷达的topic
vector<string> tokens;
copy(istream_iterator<string>(iss), istream_iterator<string>(), back_inserter<vector<string> >(tokens));


vector<string> tmp_input_topics;


for(int i=0;i<tokens.size();++i)
{
       for(int j=0;j<topics.size();++j)
{
if( (tokens[i].compare(topics[j].name) == 0) && (topics[j].datatype.compare("sensor_msgs/LaserScan") == 0) )
{
tmp_input_topics.push_back(topics[j].name);
}
}
}//从所有topic里选出两个激光雷达的topic并赋给tmp_input_topics


sort(tmp_input_topics.begin(),tmp_input_topics.end());//按大小调整一下顺序；
std::vector<string>::iterator last = std::unique(tmp_input_topics.begin(), tmp_input_topics.end());//去掉重复的；比如有两个topic同名就去掉一个
tmp_input_topics.erase(last, tmp_input_topics.end());




// Do not re-subscribe if the topics are the same
if( (tmp_input_topics.size() != input_topics.size()) || !equal(tmp_input_topics.begin(),tmp_input_topics.end(),input_topics.begin()))
{


// Unsubscribe from previous topics
for(int i=0; i<scan_subscribers.size(); ++i)//如果是if这种情况，则先不从当前的主题订阅，即先把scan_subscriber关闭。
scan_subscribers[i].shutdown();


input_topics = tmp_input_topics;//再将tmp这个赋给input这个。此时的input就是laserscan_topics的两个topic了
if(input_topics.size() > 0)
{
            scan_subscribers.resize(input_topics.size());
clouds_modified.resize(input_topics.size());
clouds.resize(input_topics.size());
            ROS_INFO("Subscribing to topics\t%ld", scan_subscribers.size());//将这些主题全都改成这两个。
for(int i=0; i<input_topics.size(); ++i)
{
                scan_subscribers[i] = node_.subscribe<sensor_msgs::LaserScan> (input_topics[i].c_str(), 1, boost::bind(&LaserscanMerger::scanCallback,this, _1, input_topics[i]));
clouds_modified[i] = false;
cout << input_topics[i] << " ";
}
}//scan_subscriber订阅input_topics的两个主题
else
            ROS_INFO("Not subscribed to any topic.");
}
}


LaserscanMerger::LaserscanMerger()
{
ros::NodeHandle nh("~");


nh.getParam("destination_frame", destination_frame);
nh.getParam("cloud_destination_topic", cloud_destination_topic);
nh.getParam("scan_destination_topic", scan_destination_topic);
    nh.getParam("laserscan_topics", laserscan_topics);


    this->laserscan_topic_parser();


point_cloud_publisher_ = node_.advertise<sensor_msgs::PointCloud2> (cloud_destination_topic.c_str(), 1, false);
laser_scan_publisher_ = node_.advertise<sensor_msgs::LaserScan> (scan_destination_topic.c_str(), 1, false);//发布scan_destination_topic 即/scan


tfListener_.setExtrapolationLimit(ros::Duration(0.1));
}