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Avoid global variables. it is bad practice. here is how you could do it:

class Node
{
public:
Node (ros::NodeHandle& nh) : nh_(nh) // your constructor and store

void callback (const sensor_msgs::Pointcloud2& cloud) 
{
 cloudIn_ = cloud; // copy the variable that the callback passes in to you class variable (attribute) cloudIn
}

process()
{
// do your processing here with cloudIn
}

void spin ()
{
 ros::Rate rate (30);
 while (ros::ok ())
 {
 ros::spinOnce ();
 rate.sleep ();
 }
}

protected: // Your class attributes
ros::NodeHandle nh_;
sensor_msgs::Pointcloud2 cloudIn;
}; // end of class

int main(int argc, char **argv)
{

ros::init(argc, argv, "pointcloud_node");
ros::NodeHandle nh;

Node* node = 0;

node = new Node (nh);

node->spin (); 
return 0;
}

Hope this helps!

Avoid global variables. it is bad practice. here is how you could do it:

class Node
{
public:
Node (ros::NodeHandle& nh) : nh_(nh) nh_(nh){} // your constructor and store

void callback (const sensor_msgs::Pointcloud2& cloud) 
{
 cloudIn_ = cloud; // copy the variable that the callback passes in to you class variable (attribute) cloudIn
}

process()
{
// do your processing here with cloudIn
}

void spin ()
{
 ros::Rate rate (30);
 while (ros::ok ())
 {
 ros::spinOnce ();
 rate.sleep ();
 }
}

protected: // Your class attributes
ros::NodeHandle nh_;
sensor_msgs::Pointcloud2 cloudIn;
}; // end of class

int main(int argc, char **argv)
{

ros::init(argc, argv, "pointcloud_node");
ros::NodeHandle nh;

Node* node = 0;

node = new Node (nh);

node->spin (); 
return 0;
}

Hope this helps!

Avoid global variables. it is bad practice. here is how you could do it:

class Node
{
public:
Node (ros::NodeHandle& nh) : nh_(nh){} // your constructor and store
store the passed node handle (nh) to your class attribute nh_ 

void callback (const sensor_msgs::Pointcloud2& cloud) 
{
 cloudIn_ = cloud; // copy the variable that the callback passes in to you class variable (attribute) cloudIn
}

process()
{
// do your processing here with cloudIn
}

void spin ()
{
 ros::Rate rate (30);
 while (ros::ok ())
 {
 ros::spinOnce ();
 rate.sleep ();
 }
}

protected: // Your class attributes
ros::NodeHandle nh_;
sensor_msgs::Pointcloud2 cloudIn;
}; // end of class

int main(int argc, char **argv)
{

ros::init(argc, argv, "pointcloud_node");
ros::NodeHandle nh;

Node* node = 0;

node = new Node (nh);

node->spin (); 
return 0;
}

Hope this helps!

Avoid global variables. it is bad practice. here is how you could do it:

class Node
pass_cloud
{
public:
Node pass_cloud (ros::NodeHandle& nh) : nh_(nh){} nh_(nh)
{
  sub = nh.subscribe ("/camera/depth_registered/points",     3,&pass_cloud::callback,this);
} // your constructor and store the passed node handle (nh) to your class attribute nh_ 

void callback (const sensor_msgs::Pointcloud2& cloud) 
{
 cloudIn_ = input= cloud; // copy the variable that the callback passes in to you class variable (attribute) cloudIn
input
}

process()
{
// do your processing here with cloudIn
std::cout << " " << input.points[i].x << " " << input.points[i].y <<  " " << input.points[i].z << std::endl; std::cout<<"reached here"<<std::endl; 
}

void spin ()
{
 ros::Rate rate (30);
 while (ros::ok ())
 {
 ros::spinOnce ();
 rate.sleep ();
 }
}

protected: // Your class attributes
ros::NodeHandle nh_;
sensor_msgs::Pointcloud2 cloudIn;
pcl::PointCloud& input;
cloud ros::Subscriber sub;
}; // end of class

int main(int argc, char **argv)
{

ros::init(argc, argv, "pointcloud_node");
ros::NodeHandle nh;

Node* pass_cloud* node = 0;

node = new Node (nh);
pass_cloud(nh);

node->spin (); 
return 0;
}

Hope this helps!

Avoid global variables. it is bad practice. here is how you could do it:

class pass_cloud
{
public:
pass_cloud (ros::NodeHandle& nh) : nh_(nh)
{
  sub = nh.subscribe nh_.subscribe ("/camera/depth_registered/points",     3,&pass_cloud::callback,this);
} // your constructor and store the passed node handle (nh) to your class attribute nh_ 

void callback (const sensor_msgs::Pointcloud2& cloud) 
{
 input= cloud; // copy the variable that the callback passes in to you class variable (attribute) input
}

process()
{
std::cout << " " << input.points[i].x << " " << input.points[i].y <<  " " << input.points[i].z << std::endl; std::cout<<"reached here"<<std::endl; 
}

void spin ()
{
 ros::Rate rate (30);
 while (ros::ok ())
 {
 ros::spinOnce ();
 rate.sleep ();
 }
}

protected: // Your class attributes
ros::NodeHandle nh_;
pcl::PointCloud& input;
cloud ros::Subscriber sub;
}; // end of class

int main(int argc, char **argv)
{

ros::init(argc, argv, "pointcloud_node");
ros::NodeHandle nh;

pass_cloud* node = 0;

node = new pass_cloud(nh);

node->spin (); 
return 0;
}

Hope this helps!

Avoid global variables. it is bad practice. here is how you could do it:

class pass_cloud
{
public:
pass_cloud (ros::NodeHandle& nh) : nh_(nh)
{
  sub = nh_.subscribe ("/camera/depth_registered/points",     3,&pass_cloud::callback,this);
} // your constructor and store the passed node handle (nh) to your class attribute nh_ 

void callback (const sensor_msgs::Pointcloud2& pcl::PointCloud& cloud) 
{
 input= cloud; // copy the variable that the callback passes in to you class variable (attribute) input
}

process()
{
std::cout << " " << input.points[i].x << " " << input.points[i].y <<  " " << input.points[i].z << std::endl; std::cout<<"reached here"<<std::endl; 
}

void spin ()
{
 ros::Rate rate (30);
 while (ros::ok ())
 {
 ros::spinOnce ();
 rate.sleep ();
 }
}

protected: // Your class attributes
ros::NodeHandle nh_;
pcl::PointCloud& input;
cloud ros::Subscriber sub;
}; // end of class

int main(int argc, char **argv)
{

ros::init(argc, argv, "pointcloud_node");
ros::NodeHandle nh;

pass_cloud* node = 0;

node = new pass_cloud(nh);

node->spin (); 
return 0;
}

Hope this helps!

Avoid global variables. it is bad practice. here is how you could do it:

class pass_cloud
{
public:
pass_cloud (ros::NodeHandle& nh) : nh_(nh)
nh_(nh), i(0)
{
  sub = nh_.subscribe ("/camera/depth_registered/points",     3,&pass_cloud::callback,this);
} // your constructor and store the passed node handle (nh) to your class attribute nh_ 

void callback (const pcl::PointCloud& cloud) 
{
 input= cloud; // copy the variable that the callback passes in to you class variable (attribute) input
}

process()
{
std::cout << " " << input.points[i].x << " " << input.points[i].y <<  " " << input.points[i].z << std::endl; std::cout<<"reached here"<<std::endl; 
i=i+1;
}

void spin ()
{
 ros::Rate rate (30);
 while (ros::ok ())
 {
 ros::spinOnce ();
 rate.sleep ();
 }
}

protected: // Your class attributes
ros::NodeHandle nh_;
pcl::PointCloud& input;
cloud ros::Subscriber sub;
int i;
}; // end of class

int main(int argc, char **argv)
{

ros::init(argc, argv, "pointcloud_node");
ros::NodeHandle nh;

pass_cloud* node = 0;

node = new pass_cloud(nh);

node->spin (); 
return 0;
}

Hope this helps!

Avoid global variables. it is bad practice. here is how you could do it:

class pass_cloud
{
public:
pass_cloud (ros::NodeHandle& nh) : nh_(nh), i(0)
{
  sub = nh_.subscribe ("/camera/depth_registered/points",     3,&pass_cloud::callback,this);
} // your constructor and store the passed node handle (nh) to your class attribute nh_ 

void callback (const pcl::PointCloud& cloud) 
{
 input= cloud; // copy the variable that the callback passes in to you class variable (attribute) input
 i=i+1;
}

process()
{
std::cout << " " << input.points[i].x << " " << input.points[i].y <<  " " << input.points[i].z << std::endl; std::cout<<"reached here"<<std::endl; 
i=i+1;
 }

void spin ()
{
 ros::Rate rate (30);
 while (ros::ok ())
 {
 ros::spinOnce ();
 rate.sleep ();
 }
}

protected: // Your class attributes
ros::NodeHandle nh_;
pcl::PointCloud& input;
cloud ros::Subscriber sub;
int i;
}; // end of class

int main(int argc, char **argv)
{

ros::init(argc, argv, "pointcloud_node");
ros::NodeHandle nh;

pass_cloud* node = 0;

node = new pass_cloud(nh);

node->spin (); 
return 0;
}

Hope this helps!

Avoid global variables. it is bad practice. here is how you could do it:

class pass_cloud
{
public:
pass_cloud (ros::NodeHandle& nh) : nh_(nh), i(0)
{
  sub = nh_.subscribe ("/camera/depth_registered/points",     3,&pass_cloud::callback,this);
} // your constructor and store the passed node handle (nh) to your class attribute nh_ 

void callback (const pcl::PointCloud& cloud) 
{
 input= cloud; // copy the variable that the callback passes in to you class variable (attribute) input
 i=i+1;
}

process()
{
//You might want to add an if statement here to only print if the input is not empty, I am not sure how but something like this if(input is not empty){
std::cout << " " << input.points[i].x << " " << input.points[i].y <<  " " << input.points[i].z << std::endl; std::cout<<"reached here"<<std::endl; 

}

void spin ()
{
 ros::Rate rate (30);
 while (ros::ok ())
 {
 ros::spinOnce ();
 rate.sleep ();
 }
}

protected: // Your class attributes
ros::NodeHandle nh_;
pcl::PointCloud& input;
cloud ros::Subscriber sub;
int i;
}; // end of class

int main(int argc, char **argv)
{

ros::init(argc, argv, "pointcloud_node");
ros::NodeHandle nh;

pass_cloud* node = 0;

node = new pass_cloud(nh);

node->spin (); 
return 0;
}

Hope this helps!