pointcloud_xyzrgb_to_xyz.h

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#ifndef JSK_PCL_ROS_UTILS_POINTCLOUD_XYZRGB_TO_XYZ_H_
#define JSK_PCL_ROS_UTILS_POINTCLOUD_XYZRGB_TO_XYZ_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>

#include <sensor_msgs/PointCloud2.h>

namespace jsk_pcl_ros_utils
{

class PointCloudXYZRGBToXYZ: public jsk_topic_tools::DiagnosticNodelet
{
public:
  PointCloudXYZRGBToXYZ(): DiagnosticNodelet("PointCloudXYZRGBToXYZ") { }
protected:
  virtual void onInit();
  virtual void subscribe();
  virtual void unsubscribe();
  virtual void convert(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);

  ros::Subscriber sub_;
  ros::Publisher pub_;
private:
};

}  // namespace jsk_pcl_ros_utils

#endif  // JSK_PCL_ROS_UTILS_POINTCLOUD_XYZRGB_TO_XYZ_H_