.. _program_listing_file__tmp_ws_src_webots_ros2_webots_ros2_driver_include_webots_ros2_driver_plugins_dynamic_Ros2RGBD.hpp:

Program Listing for File Ros2RGBD.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_webots_ros2_webots_ros2_driver_include_webots_ros2_driver_plugins_dynamic_Ros2RGBD.hpp>` (``/tmp/ws/src/webots_ros2/webots_ros2_driver/include/webots_ros2_driver/plugins/dynamic/Ros2RGBD.hpp``)

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

.. code-block:: cpp

   // Copyright 1996-2023 Cyberbotics Ltd.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef ROS2_RGBD_HPP
   #define ROS2_RGBD_HPP
   
   #include <unordered_map>
   
   #include <sensor_msgs/msg/point_cloud2.hpp>
   
   #include <webots_ros2_driver/WebotsNode.hpp>
   #include <webots_ros2_driver/plugins/Ros2SensorPlugin.hpp>
   
   namespace webots_ros2_driver {
   
     class Ros2RGBD : public Ros2SensorPlugin {
     public:
       void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> &parameters) override;
       void step() override;
   
     private:
       void publishData();
   
       rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr mPublisher;
   
       WbDeviceTag mCamera;
       WbDeviceTag mRangeFinder;
   
       int mWidth;
       int mHeight;
       double mCenterX;
       double mCenterY;
       double mFocalLengthX;
       double mFocalLengthY;
   
       sensor_msgs::msg::PointCloud2 mMessage;
     };
   
   }  // namespace webots_ros2_driver
   
   #endif