ts_pointcloud_ros.h

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#ifndef TS_POINTCLOUD_ROS_H
#define TS_POINTCLOUD_ROS_H

#include <ros/package.h>
#include <ros/ros.h>
#include <tf2_ros/transform_listener.h>
#include <visualization_msgs/Marker.h>

#include "toposens_pointcloud/logging.h"
#include "toposens_pointcloud/mapping.h"

namespace toposens_pointcloud
{
static const std::string kPointCloudTopic = "ts_cloud";

class TSPointCloudROS
{
public:
  TSPointCloudROS(ros::NodeHandle nh, ros::NodeHandle private_nh);

  ~TSPointCloudROS();

private:
  void cloudCallback(const toposens_msgs::TsScan::ConstPtr &msg);

  void doTransform(geometry_msgs::TransformStamped transform, pcl::PointXYZINormal &pt,
                   std_msgs::Header h);

  void publishNormals(XYZINCloud::ConstPtr tc);

  std::string scans_topic_;  
  std::string target_frame_; 
  ros::Publisher cloud_pub_;  
  ros::Subscriber scans_sub_; 
  ros::Publisher marker_pub_; 
  float lifetime_normals_vis_; 
  int marker_id_ = 0;          
  tf2_ros::Buffer tf2_buffer_;
  tf2_ros::TransformListener *tf2_listener_; 
  boost::thread *log_thread_; 
  std::unique_ptr<Mapping> pointTransform_; 
  visualization_msgs::Marker marker;        
};

}  // namespace toposens_pointcloud

#endif