.. _program_listing_file__tmp_ws_src_pointcloud_to_laserscan_include_pointcloud_to_laserscan_pointcloud_to_laserscan_node.hpp:

Program Listing for File pointcloud_to_laserscan_node.hpp
=========================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_pointcloud_to_laserscan_include_pointcloud_to_laserscan_pointcloud_to_laserscan_node.hpp>` (``/tmp/ws/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2010-2012, Willow Garage, Inc.
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
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    *
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    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
    *   * Neither the name of Willow Garage, Inc. nor the names of its
    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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    *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    *
    *
    */
   
   /*
    * Author: Paul Bovbel
    */
   
   #ifndef POINTCLOUD_TO_LASERSCAN__POINTCLOUD_TO_LASERSCAN_NODE_HPP_
   #define POINTCLOUD_TO_LASERSCAN__POINTCLOUD_TO_LASERSCAN_NODE_HPP_
   
   #include <atomic>
   #include <memory>
   #include <string>
   #include <thread>
   
   #include "message_filters/subscriber.h"
   #include "tf2_ros/buffer.h"
   #include "tf2_ros/message_filter.h"
   #include "tf2_ros/transform_listener.h"
   
   #include "rclcpp/rclcpp.hpp"
   #include "sensor_msgs/msg/laser_scan.hpp"
   #include "sensor_msgs/msg/point_cloud2.hpp"
   
   #include "pointcloud_to_laserscan/visibility_control.h"
   
   namespace pointcloud_to_laserscan
   {
   typedef tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2> MessageFilter;
   
   class PointCloudToLaserScanNode : public rclcpp::Node
   {
   public:
     POINTCLOUD_TO_LASERSCAN_PUBLIC
     explicit PointCloudToLaserScanNode(const rclcpp::NodeOptions & options);
   
     ~PointCloudToLaserScanNode() override;
   
   private:
     void cloudCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud_msg);
   
     void subscriptionListenerThreadLoop();
   
     std::unique_ptr<tf2_ros::Buffer> tf2_;
     std::unique_ptr<tf2_ros::TransformListener> tf2_listener_;
     message_filters::Subscriber<sensor_msgs::msg::PointCloud2> sub_;
     std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::LaserScan>> pub_;
     std::unique_ptr<MessageFilter> message_filter_;
   
     std::thread subscription_listener_thread_;
     std::atomic_bool alive_{true};
   
     // ROS Parameters
     int input_queue_size_;
     std::string target_frame_;
     double tolerance_;
     double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_,
       range_max_;
     bool use_inf_;
     double inf_epsilon_;
   };
   
   }  // namespace pointcloud_to_laserscan
   
   #endif  // POINTCLOUD_TO_LASERSCAN__POINTCLOUD_TO_LASERSCAN_NODE_HPP_