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I am working with the laser_assembler package and sensor_msgs::PointCloud2 from a lidar. When i use the periodic_snapshotter (modified for pointcloud2 , as below) I get the no point clouds published on the /assembled_cloud topic. What could be the possible cause of no assembling of the cloud even though no error is received. I am using ROS Noetic on Ubuntu 20. Lidar source OS0-32
#include <cstdio>
#include <ros/ros.h>
// Services
#include "laser_assembler/AssembleScans2.h"
// Messages
#include "sensor_msgs/PointCloud2.h"
/***
* This a simple test app that requests a point cloud from the
* point_cloud_assembler every 4 seconds, and then publishes the
* resulting data
*/
namespace laser_assembler
{
class PeriodicSnapshotter
{
public:
PeriodicSnapshotter()
{
// Create a publisher for the clouds that we assemble
pub_ = n_.advertise<sensor_msgs::PointCloud2> ("assembled_cloud", 1);
// Create the service client for calling the assembler
client_ = n_.serviceClient<AssembleScans2>("assemble_scans2");
// Start the timer that will trigger the processing loop (timerCallback)
timer_ = n_.createTimer(ros::Duration(2,0), &PeriodicSnapshotter::timerCallback, this);
// Need to track if we've called the timerCallback at least once
first_time_ = true;
}
void timerCallback(const ros::TimerEvent& e)
{
// We don't want to build a cloud the first callback, since we
// don't have a start and end time yet
if (first_time_)
{
first_time_ = false;
return;
}
// Populate our service request based on our timer callback times
AssembleScans2 srv;
srv.request.begin = e.last_real;
srv.request.end = e.current_real;
// Make the service call
if (client_.call(srv))
{
ROS_INFO("Published Cloud with %u points", (uint32_t)(srv.response.cloud.data.size())) ;
pub_.publish(srv.response.cloud);
}
else
{
ROS_ERROR("Error making service call\n") ;
}
}
private:
ros::NodeHandle n_;
ros::Publisher pub_;
ros::ServiceClient client_;
ros::Timer timer_;
bool first_time_;
} ;
}
using namespace laser_assembler ;
int main(int argc, char **argv)
{
ros::init(argc, argv, "periodic_snapshotter");
ros::NodeHandle n;
ROS_INFO("Waiting for [build_cloud] to be advertised");
ros::service::waitForService("build_cloud2");
ROS_INFO("Found build_cloud! Starting the snapshotter");
PeriodicSnapshotter snapshotter;
ros::spin();
return 0;
}
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