Program Listing for File Ros2Lidar.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_LIDAR_HPP
#define ROS2_LIDAR_HPP
#include <tf2_ros/static_transform_broadcaster.h>
#include <webots/lidar.h>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <unordered_map>
#include <webots_ros2_driver/WebotsNode.hpp>
#include <webots_ros2_driver/plugins/Ros2SensorPlugin.hpp>
namespace webots_ros2_driver {
class Ros2Lidar : public Ros2SensorPlugin {
public:
void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> ¶meters) override;
void step() override;
private:
void publishPointCloud();
void publishLaserScan();
WbDeviceTag mLidar;
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr mLaserPublisher;
sensor_msgs::msg::LaserScan mLaserMessage;
std::unique_ptr<tf2_ros::StaticTransformBroadcaster> mTfBroadcaster;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr mPointCloudPublisher;
sensor_msgs::msg::PointCloud2 mPointCloudMessage;
bool mIsSensorEnabled;
bool mIsPointCloudEnabled;
};
} // end namespace webots_ros2_driver
#endif