Program Listing for File pointcloud_to_laserscan_node.hpp
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/*
* 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_