{// Read local parametersros::NodeHandlelocal_nh("~");// Resolve topic namesros::NodeHandle nh;std::stringcamera_ns = nh.resolveName("camera");std::stringimage_topic = ros::names::clean(camera_ns +"/rgb/image_rect");std::stringdepth_topic = ros::names::clean(camera_ns +"/depth_...
intmain(intargc,char** argv){//ROS Initializationros::init(argc, argv,"detecting_people"); ros::NodeHandle nh; ros::Raterate(13); ros::Subscriber state_sub = nh.subscribe("followme_state",5, &stateCallback); ros::Publisher people_pub = nh.advertise<frmsg::people>("followme_pe...
voidcompute(constsensor_msgs::PointCloud2::ConstPtr &input, sensor_msgs::PointCloud2 &output,floatth_dd,intmax_search){CloudPtrcloud(newCloud); fromROSMsg (*input, *cloud); pcl::PointCloud<pcl::Normal>::Ptrnormal(newpcl::PointCloud<pcl::Normal>); pcl::IntegralImageNormalEstimation<PointX...
// so for debug we'll use a named loggerif(ros::console::set_logger_level(name, ros::console::levels::Debug))//nameros::console::notifyLoggerLevelsChanged(); }else// if not DEBUG we want INFO{if(ros::console::set_logger_level(name, ros::console::levels::Info))//nameros::consol...