- def send_point_cloud(self, msg, current_time):
- cloud = PointCloud()
- cloud.header.stamp = current_time
- cloud.header.frame_id = "sensor_frame"
- cloud.points.append(Point32(msg.d1/10.0, 0, 0))
- self.pub_cloud.publish(cloud)
+ def send_laser_scan(self, msg, current_time):
+ # first, we'll publish the transform over tf
+ self.tf_broadcaster.sendTransform((0.06, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), current_time, "base_link", "base_scan");
+
+ # actually ultra sonic range finder
+ scan = LaserScan()
+ scan.header.stamp = current_time
+ scan.header.frame_id = "base_link"
+ scan.angle_min = -pi/4;
+ scan.angle_max = pi/4;
+ scan.angle_increment = pi/4;
+ scan.time_increment = 0.01;
+ scan.range_min = 0.0;
+ scan.range_max = 4.0;
+ for i in range(3):
+ scan.ranges.append(msg.d1/100.0)
+ scan.intensities.append(0.5)
+ scan.intensities.append(1.0)
+ scan.intensities.append(0.5)
+ self.pub_scan.publish(scan)