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removed ls publisher function #7

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removed ls publisher function #7

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3f578ad
removed ls publisher function
girvenavery2022 Apr 6, 2022
0898917
oops
girvenavery2022 Apr 6, 2022
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6 changes: 0 additions & 6 deletions include/ros2_sick/LMS1xx_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,6 @@
#include <ros2_sick/LMS1xx/LMS1xx.h>
#include <tf2/exceptions.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#include <chrono>
#include <memory>
Expand Down Expand Up @@ -83,11 +82,6 @@ class Sick : public rclcpp::Node
*/
void get_measurements();

/**
* @brief publishes scan messages
*/
void publish_scan();

/**
* @brief publishes cloud messages
*/
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6 changes: 2 additions & 4 deletions src/LMS1xx_node.cpp
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Expand Up @@ -65,7 +65,7 @@ void Sick::connect_lidar()
void Sick::construct_scan()
{
scan_msg.header.frame_id = frame_id;
scan_msg.range_min = 0.01;
scan_msg.range_min = 0.5;
scan_msg.range_max = 20.0;
scan_msg.scan_time = 100.0 / cfg.scaningFrequency;
scan_msg.angle_increment =
Expand Down Expand Up @@ -158,7 +158,7 @@ void Sick::get_measurements()
{
scan_msg.intensities[i] = data.rssi1[i];
}
publish_scan();
ls_publisher_->publish(scan_msg);
publish_cloud();
}
else
Expand All @@ -174,8 +174,6 @@ void Sick::get_measurements()
laser.disconnect();
}

void Sick::publish_scan() { ls_publisher_->publish(scan_msg); }

void Sick::publish_cloud()
{
sensor_msgs::msg::PointCloud2 cloud_msg;
Expand Down