range_to_cloud.h

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#ifndef _RANGE_TO_CLOUD_
#define _RANGE_TO_CLOUD_ 1

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/Range.h>

namespace segbot_sensors
{
  class RangeToCloud
  {
  public:
    RangeToCloud(ros::NodeHandle node, ros::NodeHandle priv_nh);
    ~RangeToCloud(){}

  private:
    void processRange(const sensor_msgs::Range::ConstPtr &rangeMsg);

    ros::Subscriber ranges_;
    ros::Publisher points_;
    tf::TransformListener listener_;
  };
}; // end namespace segbot_sensors

#endif // _RANGE_TO_CLOUD_