laserscan_to_pointcloud.h

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#pragma once
#ifndef _LASERSCAN_TO_POINTCLOUD_H
#define _LASERSCAN_TO_POINTCLOUD_H

#include "ros/ros.h"
#include <tf/transform_listener.h>
#include <laser_geometry/laser_geometry.h>
#include "pcl_conversions/pcl_conversions.h"
#include "std_srvs/Trigger.h"
#include "std_msgs/String.h"

class ScanToPointCloud 
{
    typedef pcl::PointCloud<pcl::PointXYZ> PointCloudXYZ;
    
public:
    ScanToPointCloud(ros::NodeHandle nh);

private:
    void scanCb(const sensor_msgs::LaserScan::ConstPtr& scan);

    bool saveCloudCb(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
        
    void filenameCb(const std_msgs::String::ConstPtr& msg);

    int counter_;

    std::string file_name_;

    laser_geometry::LaserProjection projector_;

    tf::TransformListener tf_listener_;

    PointCloudXYZ::Ptr total_cloud_;

    bool init_cloud_ = true;

    ros::NodeHandle nh_;

    ros::Publisher pub_;

    ros::Subscriber sub_;

    ros::Subscriber filename_sub_;

    ros::ServiceServer store_sub_;
};

#endif