Program Listing for File DepthImageToLaserScanROS.hpp
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// Copyright (c) 2012, Willow Garage, Inc.
//
// Redistribution and use in source and binary forms, with or without
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//
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// * Redistributions in binary form must reproduce the above copyright
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// this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/*
* Author: Chad Rockey
*/
#ifndef DEPTHIMAGE_TO_LASERSCAN__DEPTHIMAGETOLASERSCANROS_HPP_
#define DEPTHIMAGE_TO_LASERSCAN__DEPTHIMAGETOLASERSCANROS_HPP_
#include <memory>
#include "depthimage_to_laserscan/DepthImageToLaserScanROS_export.h"
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <depthimage_to_laserscan/DepthImageToLaserScan.hpp>
namespace depthimage_to_laserscan
{
class DEPTHIMAGETOLASERSCANROS_EXPORT DepthImageToLaserScanROS final : public rclcpp::Node
{
public:
explicit DepthImageToLaserScanROS(const rclcpp::NodeOptions & options);
~DepthImageToLaserScanROS() override;
private:
void depthCb(const sensor_msgs::msg::Image::SharedPtr image);
void infoCb(sensor_msgs::msg::CameraInfo::SharedPtr info);
sensor_msgs::msg::CameraInfo::SharedPtr cam_info_;
rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr cam_info_sub_;
rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr depth_image_sub_;
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scan_pub_;
std::unique_ptr<depthimage_to_laserscan::DepthImageToLaserScan> dtl_;
};
} // namespace depthimage_to_laserscan
#endif // DEPTHIMAGE_TO_LASERSCAN__DEPTHIMAGETOLASERSCANROS_HPP_