ranges_to_cloud.h

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#ifndef _RANGES_TO_CLOUD_
#define _RANGES_TO_CLOUD_ 1

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <segbot_sensors/RangeArray.h>

namespace segbot_sensors
{
  class RangesToCloud
  {
  public:
    RangesToCloud(ros::NodeHandle node, ros::NodeHandle priv_nh);
    ~RangesToCloud(){}

  private:
    void processRanges(const segbot_sensors::RangeArray::ConstPtr &rangesMsg);

    ros::Subscriber ranges_;
    ros::Publisher points_;
    tf::TransformListener listener_;
  };
}; // end namespace segbot_sensors

#endif // _RANGES_TO_CLOUD_