mrpt_sensorlib.h

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#pragma once

#include <ros/ros.h>
#include <mrpt/version.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#if MRPT_VERSION >= 0x199
#include <mrpt/io/CFileGZOutputStream.h>
using mrpt::io::CFileGZOutputStream;
#else
#include <mrpt/utils/CFileGZOutputStream.h>
using mrpt::utils::CFileGZOutputStream;
#endif

namespace mrpt_sensors
{
class GenericSensorNode
{
   protected:
        ros::NodeHandle nh_{};
        ros::NodeHandle nhlocal_{"~"};
        std::string cfgfilename_{"sensor.ini"}, cfg_section_{"SENSOR1"};
        mrpt::hwdrivers::CGenericSensor::Ptr sensor_;
        std::string out_rawlog_prefix_;  
        CFileGZOutputStream out_rawlog_;
        int rawlog_GZ_compress_level_{1};

        virtual void process_sensor_specific()
        { /*do nothing by default*/
        }
        virtual void init_sensor_specific()
        { /*do nothing by default*/
        }

   public:
        GenericSensorNode();
        virtual ~GenericSensorNode();

        virtual void init(int argc, char** argv);

        void run();
};

}  // namespace mrpt_sensors