pcd_reader_with_pose.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_PCD_READER_WITH_POSE_H_
#define JSK_PCL_PCD_READER_WITH_POSE_H_

#include <pcl_ros/pcl_nodelet.h>
#include "jsk_recognition_utils/tf_listener_singleton.h"
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <geometry_msgs/PoseStamped.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_ros/transforms.h>

namespace jsk_pcl_ros_utils
{
  class PCDReaderWithPose: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    PCDReaderWithPose(): DiagnosticNodelet("PCDReaderWithPose") {}
  typedef pcl::PointXYZRGBNormal PointT;
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void poseCallback(
      const geometry_msgs::PoseStamped::ConstPtr& msg);
    ros::Publisher pub_cloud_;
    ros::Subscriber sub_teacher_;
    //pcl::PointCloud<PointT>::Ptr template_cloud_;
    sensor_msgs::PointCloud2 template_cloud_;
  };
}

#endif