Program Listing for File os_processing_node_base.h

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#include <ouster/types.h>

#include <chrono>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>

namespace ouster_ros {

class OusterProcessingNodeBase : public rclcpp::Node {
   protected:
    OusterProcessingNodeBase(const std::string& name,
                             const rclcpp::NodeOptions& options)
        : rclcpp::Node(name, options) {}

    void create_metadata_subscriber(
        std::function<void(const std_msgs::msg::String::ConstSharedPtr&)>
            on_sensor_metadata);

   protected:
    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr metadata_sub;
    ouster::sdk::core::SensorInfo info;
    std::shared_ptr<ouster::sdk::core::PacketFormat> packet_format;
};

}  // namespace ouster_ros