.. _program_listing_file__tmp_ws_src_velodyne_simulator_velodyne_gazebo_plugins_include_velodyne_gazebo_plugins_GazeboRosVelodyneLaser.hpp:

Program Listing for File GazeboRosVelodyneLaser.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_velodyne_simulator_velodyne_gazebo_plugins_include_velodyne_gazebo_plugins_GazeboRosVelodyneLaser.hpp>` (``/tmp/ws/src/velodyne_simulator/velodyne_gazebo_plugins/include/velodyne_gazebo_plugins/GazeboRosVelodyneLaser.hpp``)

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

.. code-block:: cpp

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   #ifndef GAZEBO_ROS_VELODYNE_LASER_H_
   #define GAZEBO_ROS_VELODYNE_LASER_H_
   
   #include <sdf/Param.hh>
   
   #include <gazebo/transport/Node.hh>
   
   #include <gazebo/common/Plugin.hh>
   #include <gazebo/msgs/MessageTypes.hh>
   #include <gazebo/sensors/SensorTypes.hh>
   
   #include <sensor_msgs/msg/point_cloud2.hpp>
   
   #include <gazebo_ros/node.hpp>
   
   namespace gazebo
   {
   
     class GazeboRosVelodyneLaser : public SensorPlugin
     {
       public: GazeboRosVelodyneLaser();
   
       public: ~GazeboRosVelodyneLaser();
   
       public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
   
       private: void ConnectCb();
   
       private: sensors::SensorPtr parent_ray_sensor_;
   
       private: gazebo_ros::Node::SharedPtr ros_node_;
   
       private: rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_;
   
       private: rclcpp::TimerBase::SharedPtr timer_;
   
       private: std::string frame_name_;
   
       private: bool organize_cloud_;
   
       private: double min_intensity_;
   
       private: double min_range_;
   
       private: double max_range_;
   
       private: double gaussian_noise_;
   
       private: static double gaussianKernel(double mu, double sigma)
       {
         // using Box-Muller transform to generate two independent standard normally distributed normal variables
         // see wikipedia
         double U = (double)rand() / (double)RAND_MAX; // normalized uniform random variable
         double V = (double)rand() / (double)RAND_MAX; // normalized uniform random variable
         return sigma * (sqrt(-2.0 * ::log(U)) * cos(2.0 * M_PI * V)) + mu;
       }
   
       private: std::mutex lock_;
   
       // Subscribe to gazebo laserscan
       private: gazebo::transport::NodePtr gazebo_node_;
       private: gazebo::transport::SubscriberPtr sub_;
       private: void OnScan(const ConstLaserScanStampedPtr &_msg);
   
       private: static std::string tf_resolve(const std::string& prefix, const std::string& frame_id)
       {
         std::string output;
         if (prefix.empty()) {
           output = frame_id;
         } else {
           output = prefix + "/" + frame_id;
         }
         return output;
       }
     };
   
   } // namespace gazebo
   
   #endif /* GAZEBO_ROS_VELODYNE_LASER_H_ */