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Finised lidar node

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Pimpest
2026-03-25 14:02:10 +01:00
parent 9a967e7e1a
commit 97f08804d8
8 changed files with 133 additions and 14 deletions
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13
toid_lidar/include/toid_lidar/toid_lidar_node.hpp
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@@ -7,6 +7,7 @@
#include "tf2_ros/buffer.hpp"
#include "tf2_ros/transform_listener.hpp"
#include "toid_msgs/msg/rival.hpp"
#include "visualization_msgs/msg/marker.hpp"
#include "vector"
namespace toid
@@ -17,27 +18,27 @@ class ToidRivalDetect : public rclcpp::Node
using LaserScan = sensor_msgs::msg::LaserScan;
using Rival = toid_msgs::msg::Rival;
using PointStamped = geometry_msgs::msg::PointStamped;
using Marker = visualization_msgs::msg::Marker;
public:
static void generate_rotation_matricies(std::vector<Eigen::Matrix4d> &) {}
ToidRivalDetect();
static std::vector<Eigen::Matrix3d> rotations;
private:
void process_scan(LaserScan::ConstSharedPtr msg);
rclcpp::Subscription<LaserScan>::SharedPtr scan_sub_;
rclcpp::Publisher<Rival>::SharedPtr rival_pub_;
rclcpp::Publisher<PointStamped>::SharedPtr point_pub_;
rclcpp::Publisher<Marker>::SharedPtr marker_pub_;
std::shared_ptr<tf2_ros::Buffer> tf_buf_;
std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
std::string lidar_frame_ = "lidar";
std::string base_frame_ = "base_footprint";
std::string global_frame_ = "map";
double map_width_ = 3.0;
double map_height_ = 2.0;
bool visualize_ = false;
bool closest_ = false;
rclcpp::Logger logger_ = get_logger();
rclcpp::Clock::SharedPtr clock_;