Program Listing for File sick_ldmrs_node.h
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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
** @brief ros node to integrate LDMRS driver into sick_scan
*/
#ifndef __SICK_SCAN_LDMRS_NODE_INCLUDED
#define __SICK_SCAN_LDMRS_NODE_INCLUDED
#if defined LDMRS_SUPPORT && LDMRS_SUPPORT > 0
#include <sick_scan/sick_ros_wrapper.h>
#include <sick_scan/ldmrs/sick_ldmrs_driver.hpp>
#include <sick_ldmrs/devices/LD_MRS.hpp>
#include "sick_scan/sick_scan_common.h"
namespace sick_scan_xd
{
class SickLdmrsNode
{
public:
SickLdmrsNode();
~SickLdmrsNode();
virtual int init(rosNodePtr node, const std::string & hostName = "192.168.0.1", const std::string & frameId = "cloud");
virtual int run();
protected:
rosNodePtr m_nh;
std::shared_ptr<diagnostic_updater::Updater> m_diagnostics;
Manager* m_manager;
sick_ldmrs_driver::SickLDMRS* m_app;
devices::LDMRS* m_ldmrs;
};
} // namespace sick_scan_xd
#endif // LDMRS_SUPPORT && LDMRS_SUPPORT > 0
#endif // __SICK_SCAN_LDMRS_NODE_INCLUDED