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Commit 00653ed0 authored by Mark Ramon Nail's avatar Mark Ramon Nail
Browse files

skeleton of sensor node done

parent 0d7d453d
#include <geometry_msgs/Point.h>
#include <ros/ros.h>
#include <sstream>
#include <fstream>
using namespace std;
ros::Subscriber ground_truth_sub;
ros::Publisher lidar_data_pub;
std::string path_to_lidar_data = "";
void lidar_data_picker() {
int main(int argc, char** argv) {
ros::init(argc, argv, "Lidar Sensor Node");
ros::NodeHandle n;
ros::Rate loop_rate(500);
ros::Time start(ros::Time::now());
// ground truth pose subscriber
ground_truth_sub = n.subscribe("ground_truth_pose", 10, lidar_data_picker);
// publisher for lidar data at given ground truth pose
lidar_data_pub = n.advertise<std::vector<geometry_msgs::Point>>("lidar_data", 1);
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