Program Listing for File transform.hpp

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// Copyright 2009, 2010, 2011, 2012, 2019 Austin Robot Technology, Jack O'Quin, Jesse Vera, Joshua Whitley, Sebastian Pütz  // NOLINT
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#ifndef VELODYNE_POINTCLOUD__TRANSFORM_HPP_
#define VELODYNE_POINTCLOUD__TRANSFORM_HPP_

#include <message_filters/subscriber.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/message_filter.h>
#include <tf2_ros/transform_listener.h>

#include <memory>
#include <string>

#include <diagnostic_updater/diagnostic_updater.hpp>
#include <diagnostic_updater/publisher.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <velodyne_msgs/msg/velodyne_scan.hpp>

#include "velodyne_pointcloud/pointcloudXYZIRT.hpp"
#include "velodyne_pointcloud/rawdata.hpp"

namespace velodyne_pointcloud
{
class Transform final
  : public rclcpp::Node
{
public:
  explicit Transform(const rclcpp::NodeOptions & options);
  ~Transform() override {}
  Transform(Transform && c) = delete;
  Transform & operator=(Transform && c) = delete;
  Transform(const Transform & c) = delete;
  Transform & operator=(const Transform & c) = delete;

private:
  void processScan(const velodyne_msgs::msg::VelodyneScan::ConstSharedPtr scanMsg);

  std::unique_ptr<velodyne_rawdata::RawData> data_;
  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr output_;
  rclcpp::Subscription<velodyne_msgs::msg::VelodyneScan>::SharedPtr velodyne_scan_;

  std::unique_ptr<velodyne_rawdata::DataContainerBase> container_ptr_;

  // diagnostics updater
  diagnostic_updater::Updater diagnostics_;
  double diag_min_freq_;
  double diag_max_freq_;
  std::unique_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;
};
}  // namespace velodyne_pointcloud

#endif  // VELODYNE_POINTCLOUD__TRANSFORM_HPP_