laserscan_transformer.cpp

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#include "laserscan_transformer.h"
#include <laser_geometry/laser_geometry.h>
#include <ros/ros.h>
#include <tf/transform_listener.h>

LaserscanTransformer::LaserscanTransformer()
{
    m_laserscan_subscriber = m_node_handle.subscribe<sensor_msgs::LaserScan>(TOPIC_LASER_SCAN, 100,
                                                                             &LaserscanTransformer::scanCallback, this);
    m_pointcloud_publisher = m_node_handle.advertise<sensor_msgs::PointCloud2>(TOPIC_LASER_SCAN_POINTCLOUD, 100, false);
}

void LaserscanTransformer::scanCallback(const sensor_msgs::LaserScan::ConstPtr& laserscan)
{
    sensor_msgs::PointCloud2 pointcloud;
    m_projector.transformLaserScanToPointCloud(MODEL_BASE_LINK, *laserscan, pointcloud, m_listener);
    m_pointcloud_publisher.publish(pointcloud);
}