Program Listing for File lidar_deskewing.hpp
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#include <rtabmap_util/visibility.h>
#include "rclcpp/rclcpp.hpp"
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
namespace rtabmap_util
{
class LidarDeskewing : public rclcpp::Node
{
public:
RTABMAP_UTIL_PUBLIC
explicit LidarDeskewing(const rclcpp::NodeOptions & options);
virtual ~LidarDeskewing();
private:
void callbackScan(const sensor_msgs::msg::LaserScan::ConstSharedPtr msg);
void callbackCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
private:
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pubScan_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pubCloud_;
rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr subScan_;
rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr subCloud_;
std::string fixedFrameId_;
double waitForTransformDuration_;
bool slerp_;
std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
std::shared_ptr<tf2_ros::TransformListener> tfListener_;
};
}