convert.h

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// Copyright (C) 2009, 2010, 2011, 2012, 2019 Austin Robot Technology, Jack O'Quin, Jesse Vera, Joshua Whitley
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#ifndef VELODYNE_POINTCLOUD_CONVERT_H
#define VELODYNE_POINTCLOUD_CONVERT_H

#include <string>

#include <ros/ros.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

#include <sensor_msgs/PointCloud2.h>
#include <velodyne_pointcloud/rawdata.h>

#include <dynamic_reconfigure/server.h>
#include <velodyne_pointcloud/CloudNodeConfig.h>

namespace velodyne_pointcloud
{
class Convert
{
  public:
    Convert(
        ros::NodeHandle node,
        ros::NodeHandle private_nh,
        std::string const & node_name = ros::this_node::getName());
    ~Convert() {}

  private:
    void callback(velodyne_pointcloud::CloudNodeConfig &config, uint32_t level);
    void processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg);

    boost::shared_ptr<dynamic_reconfigure::Server<velodyne_pointcloud::CloudNodeConfig> > srv_;

    boost::shared_ptr<velodyne_rawdata::RawData> data_;
    ros::Subscriber velodyne_scan_;
    ros::Publisher output_;

    boost::shared_ptr<velodyne_rawdata::DataContainerBase> container_ptr_;

    boost::mutex reconfigure_mtx_;

    typedef struct
    {
      std::string target_frame;      
      std::string fixed_frame;       
      bool organize_cloud;           
      double max_range;              
      double min_range;              
      uint16_t num_lasers;           
      int npackets;                  
    }
    Config;
    Config config_;
    bool first_rcfg_call;

  // diagnostics updater
  diagnostic_updater::Updater diagnostics_;
  double diag_min_freq_;
  double diag_max_freq_;
  boost::shared_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;
};
}  // namespace velodyne_pointcloud

#endif  // VELODYNE_POINTCLOUD_CONVERT_H