Program Listing for File source_pointcloud_ros.hpp

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#pragma once

#include "source/source.hpp"

#ifdef ROS_FOUND
#include <ros/ros.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#ifdef ENABLE_IMU_DATA_PARSE
  #include "sensor_msgs/Imu.h"
#endif
namespace robosense
{
namespace lidar
{

inline sensor_msgs::PointCloud2 toRosMsg(const LidarPointCloudMsg& rs_msg, const std::string& frame_id, bool send_by_rows)
{
  sensor_msgs::PointCloud2 ros_msg;

  int fields = 4;
#ifdef POINT_TYPE_XYZIF
  fields = 5;
#elif defined(POINT_TYPE_XYZIRT)
  fields = 6;
#elif defined(POINT_TYPE_XYZIRTF)
  fields = 7;
#endif
  ros_msg.fields.clear();
  ros_msg.fields.reserve(fields);

  if (send_by_rows)
  {
    ros_msg.width = rs_msg.width;
    ros_msg.height = rs_msg.height;
  }
  else
  {
    ros_msg.width = rs_msg.height; // exchange width and height to be compatible with pcl::PointCloud<>
    ros_msg.height = rs_msg.width;
  }

  int offset = 0;
  offset = addPointField(ros_msg, "x", 1, sensor_msgs::PointField::FLOAT32, offset);
  offset = addPointField(ros_msg, "y", 1, sensor_msgs::PointField::FLOAT32, offset);
  offset = addPointField(ros_msg, "z", 1, sensor_msgs::PointField::FLOAT32, offset);
  offset = addPointField(ros_msg, "intensity", 1, sensor_msgs::PointField::FLOAT32, offset);
#if defined(POINT_TYPE_XYZIRT) || defined(POINT_TYPE_XYZIRTF)
  offset = addPointField(ros_msg, "ring", 1, sensor_msgs::PointField::UINT16, offset);
  offset = addPointField(ros_msg, "timestamp", 1, sensor_msgs::PointField::FLOAT64, offset);
#endif

#if defined(POINT_TYPE_XYZIF) || defined(POINT_TYPE_XYZIRTF)
  offset = addPointField(ros_msg, "feature", 1, sensor_msgs::PointField::UINT8, offset);
#endif

#if 0
  std::cout << "off:" << offset << std::endl;
#endif

  ros_msg.point_step = offset;
  ros_msg.row_step = ros_msg.width * ros_msg.point_step;
  ros_msg.is_dense = rs_msg.is_dense;
  ros_msg.data.resize(ros_msg.point_step * ros_msg.width * ros_msg.height);

  sensor_msgs::PointCloud2Iterator<float> iter_x_(ros_msg, "x");
  sensor_msgs::PointCloud2Iterator<float> iter_y_(ros_msg, "y");
  sensor_msgs::PointCloud2Iterator<float> iter_z_(ros_msg, "z");
  sensor_msgs::PointCloud2Iterator<float> iter_intensity_(ros_msg, "intensity");

#if defined(POINT_TYPE_XYZIRT) || defined(POINT_TYPE_XYZIRTF)
  sensor_msgs::PointCloud2Iterator<uint16_t> iter_ring_(ros_msg, "ring");
  sensor_msgs::PointCloud2Iterator<double> iter_timestamp_(ros_msg, "timestamp");
#endif

#if defined(POINT_TYPE_XYZIF) || defined(POINT_TYPE_XYZIRTF)
  sensor_msgs::PointCloud2Iterator<uint8_t> iter_feature_(ros_msg, "feature");
#endif

  if (send_by_rows)
  {
    for (size_t i = 0; i < rs_msg.height; i++)
    {
      for (size_t j = 0; j < rs_msg.width; j++)
      {
        const LidarPointCloudMsg::PointT& point = rs_msg.points[i + j * rs_msg.height];

        *iter_x_ = point.x;
        *iter_y_ = point.y;
        *iter_z_ = point.z;
        *iter_intensity_ = point.intensity;

        ++iter_x_;
        ++iter_y_;
        ++iter_z_;
        ++iter_intensity_;

#if defined(POINT_TYPE_XYZIRT) || defined(POINT_TYPE_XYZIRTF)
        *iter_ring_ = point.ring;
        *iter_timestamp_ = point.timestamp;

        ++iter_ring_;
        ++iter_timestamp_;
#endif

#if defined(POINT_TYPE_XYZIF) || defined(POINT_TYPE_XYZIRTF)
        *iter_feature_ = point.feature;
        ++iter_feature_;
#endif

      }
    }
  }
  else
  {
    for (size_t i = 0; i < rs_msg.points.size(); i++)
    {
      const LidarPointCloudMsg::PointT& point = rs_msg.points[i];

      *iter_x_ = point.x;
      *iter_y_ = point.y;
      *iter_z_ = point.z;
      *iter_intensity_ = point.intensity;

      ++iter_x_;
      ++iter_y_;
      ++iter_z_;
      ++iter_intensity_;

#if defined(POINT_TYPE_XYZIRT) || defined(POINT_TYPE_XYZIRTF)
      *iter_ring_ = point.ring;
      *iter_timestamp_ = point.timestamp;

      ++iter_ring_;
      ++iter_timestamp_;
#endif

#if defined(POINT_TYPE_XYZIF) || defined(POINT_TYPE_XYZIRTF)
        *iter_feature_ = point.feature;
        ++iter_feature_;
#endif
    }
  }

  ros_msg.header.seq = rs_msg.seq;
  ros_msg.header.stamp = ros_msg.header.stamp.fromSec(rs_msg.timestamp);
  ros_msg.header.frame_id = frame_id;

  return ros_msg;
}
#ifdef ENABLE_IMU_DATA_PARSE
sensor_msgs::Imu toRosMsg(const std::shared_ptr<ImuData>& data, const std::string& frame_id)
{
  sensor_msgs::Imu imu_msg;

  imu_msg.header.stamp = imu_msg.header.stamp.fromSec(data->timestamp);
  imu_msg.header.frame_id = frame_id;
  // Set IMU data
  imu_msg.angular_velocity.x = data->angular_velocity_x;
  imu_msg.angular_velocity.y = data->angular_velocity_y;
  imu_msg.angular_velocity.z = data->angular_velocity_z;

  imu_msg.linear_acceleration.x = data->linear_acceleration_x;
  imu_msg.linear_acceleration.y = data->linear_acceleration_y;
  imu_msg.linear_acceleration.z = data->linear_acceleration_z;
  return imu_msg;
}
#endif
class DestinationPointCloudRos : public DestinationPointCloud
{
public:

  virtual void init(const YAML::Node& config);
  virtual void sendPointCloud(const LidarPointCloudMsg& msg);
  virtual ~DestinationPointCloudRos() = default;
#ifdef ENABLE_IMU_DATA_PARSE
  virtual void sendImuData(const std::shared_ptr<ImuData> & data);
#endif
private:
  std::shared_ptr<ros::NodeHandle> nh_;
  ros::Publisher pub_;
#ifdef ENABLE_IMU_DATA_PARSE
  ros::Publisher imu_pub_;
#endif
  std::string frame_id_;
  bool send_by_rows_;
};

inline void DestinationPointCloudRos::init(const YAML::Node& config)
{
  yamlRead<bool>(config["ros"],
      "ros_send_by_rows", send_by_rows_, false);

  bool dense_points;
  yamlRead<bool>(config["driver"], "dense_points", dense_points, false);
  if (dense_points)
    send_by_rows_ = false;

  yamlRead<std::string>(config["ros"],
      "ros_frame_id", frame_id_, "rslidar");

  std::string ros_send_topic;
  yamlRead<std::string>(config["ros"],
      "ros_send_point_cloud_topic", ros_send_topic, "rslidar_points");



  nh_ = std::unique_ptr<ros::NodeHandle>(new ros::NodeHandle());
  pub_ = nh_->advertise<sensor_msgs::PointCloud2>(ros_send_topic, 10);
#ifdef ENABLE_IMU_DATA_PARSE
  std::string ros_send_imu_data_topic;
  yamlRead<std::string>(config["ros"],
      "ros_send_imu_data_topic", ros_send_imu_data_topic, "rslidar_imu_data");
  imu_pub_ = nh_->advertise<sensor_msgs::Imu>(ros_send_imu_data_topic, 1000);
#endif
}

inline void DestinationPointCloudRos::sendPointCloud(const LidarPointCloudMsg& msg)
{
  pub_.publish(toRosMsg(msg, frame_id_, send_by_rows_));
}
#ifdef ENABLE_IMU_DATA_PARSE
inline void DestinationPointCloudRos::sendImuData(const std::shared_ptr<ImuData> & data)
{
  imu_pub_.publish(toRosMsg(data, frame_id_));
}
#endif
}  // namespace lidar
}  // namespace robosense

#endif  // ROS_FOUND

#ifdef ROS2_FOUND
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/point_cloud2_iterator.hpp>
#ifdef ENABLE_IMU_DATA_PARSE
  #include <sensor_msgs/msg/imu.hpp>
#endif
#include <sstream>

namespace robosense
{
namespace lidar
{

inline sensor_msgs::msg::PointCloud2 toRosMsg(const LidarPointCloudMsg& rs_msg, const std::string& frame_id, bool send_by_rows)
{
  sensor_msgs::msg::PointCloud2 ros_msg;

  int fields = 4;
#ifdef POINT_TYPE_XYZIF
  fields = 5;
#elif defined(POINT_TYPE_XYZIRT)
  fields = 6;
#elif defined(POINT_TYPE_XYZIRTF)
  fields = 7;
#endif
  ros_msg.fields.clear();
  ros_msg.fields.reserve(fields);

  if (send_by_rows)
  {
    ros_msg.width = rs_msg.width;
    ros_msg.height = rs_msg.height;
  }
  else
  {
    ros_msg.width = rs_msg.height; // exchange width and height to be compatible with pcl::PointCloud<>
    ros_msg.height = rs_msg.width;
  }

  int offset = 0;
  offset = addPointField(ros_msg, "x", 1, sensor_msgs::msg::PointField::FLOAT32, offset);
  offset = addPointField(ros_msg, "y", 1, sensor_msgs::msg::PointField::FLOAT32, offset);
  offset = addPointField(ros_msg, "z", 1, sensor_msgs::msg::PointField::FLOAT32, offset);
  offset = addPointField(ros_msg, "intensity", 1, sensor_msgs::msg::PointField::FLOAT32, offset);

#if defined(POINT_TYPE_XYZIRT) || defined(POINT_TYPE_XYZIRTF)
  offset = addPointField(ros_msg, "ring", 1, sensor_msgs::msg::PointField::UINT16, offset);
  offset = addPointField(ros_msg, "timestamp", 1, sensor_msgs::msg::PointField::FLOAT64, offset);
#endif

#if defined(POINT_TYPE_XYZIF) || defined(POINT_TYPE_XYZIRTF)
  offset = addPointField(ros_msg, "feature", 1, sensor_msgs::msg::PointField::UINT8, offset);
#endif

#if 0
  std::cout << "off:" << offset << std::endl;
#endif

  ros_msg.point_step = offset;
  ros_msg.row_step = ros_msg.width * ros_msg.point_step;
  ros_msg.is_dense = rs_msg.is_dense;
  ros_msg.data.resize(ros_msg.point_step * ros_msg.width * ros_msg.height);

  sensor_msgs::PointCloud2Iterator<float> iter_x_(ros_msg, "x");
  sensor_msgs::PointCloud2Iterator<float> iter_y_(ros_msg, "y");
  sensor_msgs::PointCloud2Iterator<float> iter_z_(ros_msg, "z");
  sensor_msgs::PointCloud2Iterator<float> iter_intensity_(ros_msg, "intensity");
#if defined(POINT_TYPE_XYZIRT) || defined(POINT_TYPE_XYZIRTF)
  sensor_msgs::PointCloud2Iterator<uint16_t> iter_ring_(ros_msg, "ring");
  sensor_msgs::PointCloud2Iterator<double> iter_timestamp_(ros_msg, "timestamp");
#endif

#if defined(POINT_TYPE_XYZIF) || defined(POINT_TYPE_XYZIRTF)
  sensor_msgs::PointCloud2Iterator<uint8_t> iter_feature_(ros_msg, "feature");
#endif

  if (send_by_rows)
  {
    for (size_t i = 0; i < rs_msg.height; i++)
    {
      for (size_t j = 0; j < rs_msg.width; j++)
      {
        const LidarPointCloudMsg::PointT& point = rs_msg.points[i + j * rs_msg.height];

        *iter_x_ = point.x;
        *iter_y_ = point.y;
        *iter_z_ = point.z;
        *iter_intensity_ = point.intensity;

        ++iter_x_;
        ++iter_y_;
        ++iter_z_;
        ++iter_intensity_;

#if defined(POINT_TYPE_XYZIRT) || defined(POINT_TYPE_XYZIRTF)
      *iter_ring_ = point.ring;
      *iter_timestamp_ = point.timestamp;

      ++iter_ring_;
      ++iter_timestamp_;
#endif

#if defined(POINT_TYPE_XYZIF) || defined(POINT_TYPE_XYZIRTF)
        *iter_feature_ = point.feature;
        ++iter_feature_;
#endif

      }
    }
  }
  else
  {
    for (size_t i = 0; i < rs_msg.points.size(); i++)
    {
      const LidarPointCloudMsg::PointT& point = rs_msg.points[i];

      *iter_x_ = point.x;
      *iter_y_ = point.y;
      *iter_z_ = point.z;
      *iter_intensity_ = point.intensity;

      ++iter_x_;
      ++iter_y_;
      ++iter_z_;
      ++iter_intensity_;

#if defined(POINT_TYPE_XYZIRT) || defined(POINT_TYPE_XYZIRTF)
      *iter_ring_ = point.ring;
      *iter_timestamp_ = point.timestamp;

      ++iter_ring_;
      ++iter_timestamp_;
#endif

#if defined(POINT_TYPE_XYZIF) || defined(POINT_TYPE_XYZIRTF)
      *iter_feature_ = point.feature;
      ++iter_feature_;
#endif
    }
  }

  ros_msg.header.stamp.sec = (uint32_t)floor(rs_msg.timestamp);
  ros_msg.header.stamp.nanosec = (uint32_t)round((rs_msg.timestamp - ros_msg.header.stamp.sec) * 1e9);
  ros_msg.header.frame_id = frame_id;

  return ros_msg;
}
#ifdef ENABLE_IMU_DATA_PARSE
sensor_msgs::msg::Imu toRosMsg(const std::shared_ptr<ImuData>& data, const std::string& frame_id)
{
  sensor_msgs::msg::Imu imu_msg;

  imu_msg.header.stamp = rclcpp::Time(static_cast<uint64_t>(data->timestamp * 1e9));
  imu_msg.header.frame_id = frame_id;
  // Set IMU data
  imu_msg.angular_velocity.x = data->angular_velocity_x;
  imu_msg.angular_velocity.y = data->angular_velocity_y;
  imu_msg.angular_velocity.z = data->angular_velocity_z;

  imu_msg.linear_acceleration.x = data->linear_acceleration_x;
  imu_msg.linear_acceleration.y = data->linear_acceleration_y;
  imu_msg.linear_acceleration.z = data->linear_acceleration_z;
  return imu_msg;
}
#endif
class DestinationPointCloudRos : virtual public DestinationPointCloud
{
public:

  virtual void init(const YAML::Node& config);
  virtual void sendPointCloud(const LidarPointCloudMsg& msg);
#ifdef ENABLE_IMU_DATA_PARSE
  virtual void sendImuData(const std::shared_ptr<ImuData> & data);
#endif
  virtual ~DestinationPointCloudRos() = default;

private:
  std::shared_ptr<rclcpp::Node> node_ptr_;
  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_;
#ifdef ENABLE_IMU_DATA_PARSE
  rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_pub_;
#endif
  std::string frame_id_;
  bool send_by_rows_;
};

inline void DestinationPointCloudRos::init(const YAML::Node& config)
{
  yamlRead<bool>(config["ros"],
      "ros_send_by_rows", send_by_rows_, false);

  bool dense_points;
  yamlRead<bool>(config["driver"], "dense_points", dense_points, false);
  if (dense_points)
    send_by_rows_ = false;

  yamlRead<std::string>(config["ros"],
      "ros_frame_id", frame_id_, "rslidar");

  std::string ros_send_topic;
  yamlRead<std::string>(config["ros"],
      "ros_send_point_cloud_topic", ros_send_topic, "rslidar_points");

  size_t ros_queue_length;
  yamlRead<size_t>(config["ros"], "ros_queue_length", ros_queue_length, 100);

  static int node_index = 0;
  std::stringstream node_name;
  node_name << "rslidar_points_destination_" << node_index++;

  node_ptr_.reset(new rclcpp::Node(node_name.str()));

  pub_ = node_ptr_->create_publisher<sensor_msgs::msg::PointCloud2>(ros_send_topic, ros_queue_length);

#ifdef ENABLE_IMU_DATA_PARSE
  std::string ros_send_imu_data_topic;
  yamlRead<std::string>(config["ros"],
      "ros_send_imu_data_topic", ros_send_imu_data_topic, "rslidar_imu_data");
  imu_pub_ = node_ptr_->create_publisher<sensor_msgs::msg::Imu>(ros_send_imu_data_topic, 1000);
#endif

}

inline void DestinationPointCloudRos::sendPointCloud(const LidarPointCloudMsg& msg)
{
  pub_->publish(toRosMsg(msg, frame_id_, send_by_rows_));
}
#ifdef ENABLE_IMU_DATA_PARSE
inline void DestinationPointCloudRos::sendImuData(const std::shared_ptr<ImuData> & data)
{
  imu_pub_->publish(toRosMsg(data, frame_id_));
}
#endif
}  // namespace lidar
}  // namespace robosense

#endif