PointCloudFilter.h

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#ifndef POINTCLOUD_FILTER_H
#define POINTCLOUD_FILTER_H

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>

#include <boost/thread/mutex.hpp>
#include <boost/thread/lock_guard.hpp>

namespace mobility_base_pointcloud_filter
{

class PointCloudFilter
{
public:
  PointCloudFilter(ros::NodeHandle nh, ros::NodeHandle priv_nh);
  ~PointCloudFilter();

protected:
  void connectCb();
  void recvCallback(const sensor_msgs::PointCloud2Ptr& msg);

private:
  ros::NodeHandle nh_;
  ros::Subscriber sub_;
  ros::Publisher pub_;
  boost::mutex connect_mutex_;
  double width_;
};

} // namespace mobility_base_pointcloud_filter

#endif // POINTCLOUD_FILTER_H