.. _program_listing_file__tmp_ws_src_depthimage_to_laserscan_include_depthimage_to_laserscan_DepthImageToLaserScanROS.hpp:

Program Listing for File DepthImageToLaserScanROS.hpp
=====================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_depthimage_to_laserscan_include_depthimage_to_laserscan_DepthImageToLaserScanROS.hpp>` (``/tmp/ws/src/depthimage_to_laserscan/include/depthimage_to_laserscan/DepthImageToLaserScanROS.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2012, Willow Garage, Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the copyright holder nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   /*
    * Author: Chad Rockey
    */
   
   #ifndef DEPTHIMAGE_TO_LASERSCAN__DEPTHIMAGETOLASERSCANROS_HPP_
   #define DEPTHIMAGE_TO_LASERSCAN__DEPTHIMAGETOLASERSCANROS_HPP_
   
   #include <memory>
   
   #include "depthimage_to_laserscan/DepthImageToLaserScanROS_export.h"
   
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/camera_info.hpp>
   #include <sensor_msgs/msg/image.hpp>
   #include <sensor_msgs/msg/laser_scan.hpp>
   
   #include <depthimage_to_laserscan/DepthImageToLaserScan.hpp>
   
   namespace depthimage_to_laserscan
   {
   class DEPTHIMAGETOLASERSCANROS_EXPORT DepthImageToLaserScanROS final : public rclcpp::Node
   {
   public:
     explicit DepthImageToLaserScanROS(const rclcpp::NodeOptions & options);
   
     ~DepthImageToLaserScanROS() override;
   
   private:
     void depthCb(const sensor_msgs::msg::Image::SharedPtr image);
   
     void infoCb(sensor_msgs::msg::CameraInfo::SharedPtr info);
   
     sensor_msgs::msg::CameraInfo::SharedPtr cam_info_;
   
     rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr cam_info_sub_;
     rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr depth_image_sub_;
   
     rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scan_pub_;
   
     std::unique_ptr<depthimage_to_laserscan::DepthImageToLaserScan> dtl_;
   };
   }  // namespace depthimage_to_laserscan
   
   #endif  // DEPTHIMAGE_TO_LASERSCAN__DEPTHIMAGETOLASERSCANROS_HPP_