Fixing laser_filter to use tf::MessageFilter instead of tf::MessageNo…

…tifier and deprecating the footprint filters.

git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@24388 eb33c2ac-9c88-4c90-87e0-44a10359b0c3

include/laser_filters/footprint_filter.h

@@ -55,7 +55,10 @@ namespace laser_filters
 class LaserScanFootprintFilter : public filters::FilterBase<sensor_msgs::LaserScan>
 {
 public:
-  LaserScanFootprintFilter(){}
+  LaserScanFootprintFilter()
+  {
+    ROS_WARN("LaserScanFootprintFilter has been deprecated.  Please use PR2LaserScanFootprintFilter instead.\n");
+  }
 
   bool configure()
   {
@@ -78,7 +81,7 @@ class LaserScanFootprintFilter : public filters::FilterBase<sensor_msgs::LaserSc
     sensor_msgs::PointCloud laser_cloud;
 
     try{
-    projector_.transformLaserScanToPointCloud("base_link", laser_cloud, input_scan, tf_);
+    projector_.transformLaserScanToPointCloud("base_link", input_scan, laser_cloud, tf_);
     }
     catch(tf::TransformException& ex){
       ROS_ERROR("Transform unavailable %s", ex.what());

include/laser_filters/point_cloud_footprint_filter.h

@@ -53,13 +53,15 @@ namespace laser_filters
 class PointCloudFootprintFilter : public filters::FilterBase<sensor_msgs::PointCloud>
 {
 public:
-  PointCloudFootprintFilter() {}
+  PointCloudFootprintFilter() {
+    ROS_WARN("PointCloudFootprintFilter has been deprecated.  Please use PR2PointCloudFootprintFilter instead.\n");
+  }
 
   bool configure()
   {
     if(!getParam("inscribed_radius", inscribed_radius_))
     {
-      ROS_ERROR("LaserScanFootprintFilter needs inscribed_radius to be set");
+      ROS_ERROR("PointCloudFootprintFilter needs inscribed_radius to be set");
       return false;
     }
     return true;

laser_filters_plugins.xml

@@ -9,36 +9,33 @@
     <class name="LaserScanIntensityFilter" type="laser_filters::LaserScanIntensityFilter" 
 	    base_class_type="filters::FilterBase<sensor_msgs::LaserScan>">
       <description>
-	This is a median filter which filters sensor_msgs::LaserScan messages based 
-on intensity  
+	This is a filter which filters sensor_msgs::LaserScan messages based on intensity
       </description>
     </class>
-    <class name="LaserScanFootprintFilter" type="laser_filters::LaserScanFootprintFilter" 
+    <class name="ScanShadowsFilter" type="laser_filters::ScanShadowsFilter" 
 	    base_class_type="filters::FilterBase<sensor_msgs::LaserScan>">
       <description>
-	This is a median filter which filters points out of a laser scan which are 
-inside the inscribed radius.  
+	This is a filter which filters points from a laser scan that look like the veiling effect.
       </description>
     </class>
-    <class name="ScanShadowsFilter" type="laser_filters::ScanShadowsFilter" 
+    <class name="InterpolationFilter" type="laser_filters::InterpolationFilter" 
 	    base_class_type="filters::FilterBase<sensor_msgs::LaserScan>">
       <description>
-	This is a median filter which filters points from a laser scan that look like
-the veiling effect.  
+      This is a filter that will generate range readings for error readings in a scan by interpolating between valid readings on either side of the error
       </description>
     </class>
-    <class name="InterpolationFilter" type="laser_filters::InterpolationFilter" 
+    <class name="LaserScanFootprintFilter" type="laser_filters::LaserScanFootprintFilter" 
 	    base_class_type="filters::FilterBase<sensor_msgs::LaserScan>">
       <description>
-      This is a filter that will generate range readings for error readings in a scan by interpolating between valid readings on either side of the error
+	DEPRECATED: This is a filter which filters points out of a laser scan which are inside the inscribed radius.
       </description>
     </class>
   </library>
   <library path="lib/libpointcloud_filters">
     <class name="PointCloudFootprintFilter" type="laser_filters::PointCloudFootprintFilter" 
 	    base_class_type="filters::FilterBase<sensor_msgs::PointCloud>">
       <description>
-	Remove points from the pointcloud inside the robot base. 
+	DEPRECATED: Remove points from the pointcloud inside the robot base. 
       </description>
     </class>
   </library>

mainpage.dox

@@ -6,10 +6,9 @@ This package is designed to provide filters for working with laser scans.
 
 \section filters Laser Scan Filters 
 
-There are a number of filters that this class provides. 
-There is also a factory class to provide easy creation and chaining of laser scan filter
-as a input to any process.
-\todo implement and document (they're currently basically standalone nodes)
+There are a number of filters that this class provides.  There is also
+a factory class to provide easy creation and chaining of laser scan
+filters as a input to any process.
 
 \subsection median Median Filter
 laser_scan::LaserMedianFilter applies a median filter to scans both in range and intensity.