Program Listing for File velodyne_laserscan.hpp

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// Copyright 2018, 2019 Kevin Hallenbeck, Joshua Whitley
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#ifndef VELODYNE_LASERSCAN__VELODYNE_LASERSCAN_HPP_
#define VELODYNE_LASERSCAN__VELODYNE_LASERSCAN_HPP_

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

namespace velodyne_laserscan
{

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

private:
  void recvCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg);

  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_;
  rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr pub_;

  uint16_t ring_count_{0};
  int ring_;
  double resolution_;
};

}  // namespace velodyne_laserscan

#endif  // VELODYNE_LASERSCAN__VELODYNE_LASERSCAN_HPP_