laserscan_to_pointcloud_nodelet.h

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/*
 * Author: Rein Appeldoorn
 */

#ifndef POINTCLOUD_TO_LASERSCAN_LASERSCAN_TO_POINTCLOUD_NODELET_H
#define POINTCLOUD_TO_LASERSCAN_LASERSCAN_TO_POINTCLOUD_NODELET_H

#include <boost/thread/mutex.hpp>
#include <laser_geometry/laser_geometry.h>
#include <message_filters/subscriber.h>
#include <nodelet/nodelet.h>
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <string>
#include <tf2_ros/buffer.h>
#include <tf2_ros/message_filter.h>
#include <tf2_ros/transform_listener.h>

namespace pointcloud_to_laserscan
{
typedef tf2_ros::MessageFilter<sensor_msgs::LaserScan> MessageFilter;

class LaserScanToPointCloudNodelet : public nodelet::Nodelet
{
public:
  LaserScanToPointCloudNodelet();

private:
  virtual void onInit();

  void scanCallback(const sensor_msgs::LaserScanConstPtr& scan_msg);
  void failureCallback(const sensor_msgs::LaserScanConstPtr& scan_msg,
                       tf2_ros::filter_failure_reasons::FilterFailureReason reason);

  void connectCb();
  void disconnectCb();

  ros::NodeHandle nh_;
  ros::NodeHandle private_nh_;
  ros::Publisher pub_;
  boost::mutex connect_mutex_;

  boost::shared_ptr<tf2_ros::Buffer> tf2_;
  boost::shared_ptr<tf2_ros::TransformListener> tf2_listener_;
  message_filters::Subscriber<sensor_msgs::LaserScan> sub_;
  boost::shared_ptr<MessageFilter> message_filter_;

  laser_geometry::LaserProjection projector_;

  // ROS Parameters
  unsigned int input_queue_size_;
  std::string target_frame_;
  double transform_tolerance_;
};

}  // namespace pointcloud_to_laserscan

#endif  // POINTCLOUD_TO_LASERSCAN_LASERSCAN_TO_POINTCLOUD_NODELET_H