Program Listing for File Ros2RGBD.hpp

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// 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