initial commit

CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+find_package(Eigen REQUIRED)
+include_directories(${EIGEN_INCLUDE_DIRS})
+add_definitions(${EIGEN_DEFINITIONS})
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+rosbuild_add_executable(SnapMapICP src/SnapMapICP.cpp)
+rosbuild_add_executable(TFpub src/TFpub.cpp)
+rosbuild_add_executable(FreezeCloud2 src/FreezeCloud2.cpp)
+
+#target_link_libraries(example ${PROJECT_NAME})

Makefile

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

mainpage.dox

@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b SnapMapICP is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

manifest.xml

@@ -0,0 +1,18 @@
+<package>
+  <description brief="SnapMapICP">
+
+     SnapMapICP
+
+  </description>
+  <author>Thomas Ruehr</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/SnapMapICP</url>
+  <depend package="std_msgs"/>
+  <depend package="pcl"/>
+  <depend package="nav_msgs"/>
+  <depend package="laser_geometry"/>
+
+</package>
+
+

src/FreezeCloud2.cpp

@@ -0,0 +1,65 @@
+/*
+ * Copyright (c) 2010, Thomas Ruehr <[email protected]>
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <ros/ros.h>
+
+#include <sensor_msgs/PointCloud2.h>
+#include <string>
+
+int main(int argc, char** argv)
+{
+
+    // Init the ROS node
+    ros::init(argc, argv, "freezecloud2");
+
+        ROS_INFO("USAGE: FreezeCloud2 input_topic output_topic");
+        ROS_INFO("Will wait for a PointCloud2 on input_topic and publish it once on output_topic");
+    if (argc > 2) {
+        ROS_INFO("input_topic %s output_topic %s", argv[1], argv[2]);
+    } else {
+        exit(0);
+    }
+
+    ros::NodeHandle nh_;
+
+    ros::Rate loop_rate(10);
+
+    sensor_msgs::PointCloud2 cloud2 = *(ros::topic::waitForMessage<sensor_msgs::PointCloud2>(argv[1]));
+
+    ros::Publisher pub = nh_.advertise<sensor_msgs::PointCloud2> (std::string(argv[2]),1,true);
+
+    pub.publish(cloud2);
+    ROS_INFO("PUBLISHED");
+    while (ros::ok())
+    {
+        loop_rate.sleep();
+        ros::spinOnce();
+    }
+
+}