Program Listing for File GazeboRosVelodyneLaser.hpp

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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_ */