Program Listing for File os_processing_node_base.h
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#include <ouster/types.h>
#include <chrono>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
namespace ouster_ros {
class OusterProcessingNodeBase : public rclcpp::Node {
protected:
OusterProcessingNodeBase(const std::string& name,
const rclcpp::NodeOptions& options)
: rclcpp::Node(name, options) {}
void create_metadata_subscriber(
std::function<void(const std_msgs::msg::String::ConstSharedPtr&)>
on_sensor_metadata);
protected:
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr metadata_sub;
ouster::sensor::sensor_info info;
};
} // namespace ouster_ros