<<PackageHeader(tinkerforge_laser_transform)>>
<<TOC(4)>>
== ROS Node API ==
{{{
#!clearsilver CS/NodeAPI
name = tinkerforge_laser_transform_node
desc = This node transform the laser scanner point cloud with tinkerforge sensor data.
param {
  0.name = ~rate
  0.type = int
  0.desc = Rate for the main loop.
  0.default = 10
  1.name = ~imu_topic
  1.type = string
  1.desc = Title for the published IMU topic.
  1.default = /imu/data
  2.name = ~gps_topic
  2.type = string
  2.desc = Title for the published GPS topic.
  2.default = /gps/fix
  3.name = ~odo_topic
  3.type = string
  3.desc = Title for the published Odometry topic.
  3.default = odom
  4.name = ~mf_topic
  4.type = string
  4.desc = Title for the MagneticField topic.
  4.default = /magnetic/data
  5.name = ~imu_msgs
  5.type = bool
  5.desc = Enable IMU topic publish.
  5.default = true
  6.name = ~gps_msgs
  6.type = bool
  6.desc = Enable GPS topic publish.
  6.default = false
  7.name = ~odo_msgs
  7.type = bool
  7.desc = Enable Odometry topic publish.
  7.default = true
  8.name = ~mf_msgs
  8.type = bool
  8.desc = Enable MagneticField topic publish.
  8.default = false
  9.name = ~pcl_in_topic
  9.type = string
  9.desc = Title for subscribed pcl data.
  9.default = /cloud
  10.name = ~pcl_out_topic
  10.type = string
  10.desc = Title for published and transformed pcl data.
  10.default = /cloud_world 
  11.name = imu_convergence_speed
  11.type = int
  11.desc = Define the sensor fusion in °/s.
  11.default = 20
  12.name = laser_pose
  12.type = array
  12.desc = Define the laser pose x, y, z, yaw, pitch, roll in m and deg.
  12.default = [3.17, 0.7, 2.1, -25.0, 20.0, -90.0]
}
sub {
  0.name = /cloud
  0.type = sensor_msgs/PointCloud2
  0.desc = Subscribe to laser scanner data for transformation.
}
pub {
  0.name = /imu/data
  0.type = sensor_msgs/Imu
  0.desc = Publishes tinkerforge imu brick data.
  1.name = /gps/fix
  1.type = sensor_msgs/NavSatFix
  1.desc = Publishes tinkerforge gps bricklet data.
  2.name = /odom
  2.type = nav_msgs/Odometry
  2.desc = Publishes odometry data.
  3.name = /magnetic/data
  3.type = sensor_msgs/MagneticField
  3.desc = Publishes tinkerforge magnetic field data (from imu).
  4.name = /cloud_world
  4.type = sensor_msgs/PointCloud2
  4.desc = Publishes the transformed point cloud.
}
}}}