pointcloud_to_laserscan_nodelet.h

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/*
 * Author: Paul Bovbel
 */

#ifndef POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
#define POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET

#include <ros/ros.h>
#include <boost/thread/mutex.hpp>

#include <pcl/point_cloud.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/ros/conversions.h>

#include <tf/transform_listener.h>
#include <nodelet/nodelet.h>

namespace pointcloud_to_laserscan
{
  typedef pcl::PointXYZ Point;
  typedef pcl::PointCloud<Point> PointCloud;

  class PointCloudToLaserScanNodelet : public nodelet::Nodelet
  {

  public:
    PointCloudToLaserScanNodelet() { };

  private:
    virtual void onInit();

    void cloudCb(const PointCloud::ConstPtr &cloud_msg);

    void connectCb();

    void disconnectCb();

    ros::NodeHandle nh_, private_nh_;
    ros::Publisher pub_;
    ros::Subscriber sub_;
    tf::TransformListener tf_;
    boost::mutex connect_mutex_;

    // ROS Parameters
    unsigned int input_queue_size_;
    std::string target_frame_;
    double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, range_max_;
    bool use_inf_;
  };

}  // pointcloud_to_laserscan

#endif  // POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET