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Copy sensor_msgs::LaserScanPtr& from callback function

asked 2016-04-13 09:03:52 -0600

bergercookie gravatar image

I have a local class member that I have defined as follows

sensor_msgs::LaserScan *current_scan_ = new sensor_msgs::LaserScan;

I also have a callback function which is called when a new laser scan is available on a /scan topic:

void CallbackHandler::getCurLaserScan(const sensor_msgs::LaserScanConstPtr& laser_in)

The question is, how can I assign a LaserScanConstPtr& object to a LaserScan* object? Is this assignment even possible? What is the advised way in manipulating incoming laser scans from the function?

The purpose of this, is to have a LaserScan object on the heap with the most recent laser scan contents.

Thanks in advance,

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answered 2016-04-13 11:01:45 -0600

dornhege gravatar image

updated 2016-04-14 11:09:03 -0600

What does *current_scan = *laser_in do?

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My goal is to make the current LaserScan, given at the getLaserScan callback, available outside the scope of the callback function. So I thought I could assign the contents of laser_in to a pointer in the heap, and then refer to the current laser scan by dereferencing the pointer each time I need..

bergercookie gravatar image bergercookie  ( 2016-04-13 14:42:37 -0600 )edit

@dornhege: Shouldn't that be *current_scan = *laser_in; ?

Felix Endres gravatar image Felix Endres  ( 2016-04-14 04:55:43 -0600 )edit

Thanks @Felix Endres , Corrected.

dornhege gravatar image dornhege  ( 2016-04-14 11:09:29 -0600 )edit

As it turns out that's one way to do it, yes.. In my situation, given that the callback function is inside a class, i Initialised a sensor_msgs::LaserScan variable on the stack and assigned the contents of laser_in inside the callback function.

bergercookie gravatar image bergercookie  ( 2016-04-14 18:10:35 -0600 )edit

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Asked: 2016-04-13 09:03:52 -0600

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Last updated: Apr 14 '16