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