convert.h

/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include <memory>
#include <string>

#include "modules/common_msgs/sensor_msgs/pointcloud.pb.h"
#include "modules/drivers/lidar/velodyne/parser/velodyne_parser.h"
#include "modules/drivers/lidar/proto/velodyne_config.pb.h"
#include "modules/drivers/lidar/proto/velodyne.pb.h"

namespace apollo {
namespace drivers {
namespace velodyne {

using apollo::drivers::PointCloud;
using apollo::drivers::velodyne::VelodyneScan;

// convert velodyne data to pointcloud and republish
class Convert {
 public:
  Convert() = default;
  virtual ~Convert() = default;

  // init velodyne config struct from private_nh
  // void init(ros::NodeHandle& node, ros::NodeHandle& private_nh);
  void init(const Config& velodyne_config);

  // convert velodyne data to pointcloud and public
  void ConvertPacketsToPointcloud(const std::shared_ptr<VelodyneScan>& scan_msg,
                                  std::shared_ptr<PointCloud> point_cloud_out);

 private:
  // RawData class for converting data to point cloud
  std::unique_ptr<VelodyneParser> parser_;

  // ros::Subscriber velodyne_scan_;
  // ros::Publisher pointcloud_pub_;

  // std::string topic_packets_;
  std::string channel_pointcloud_;

  /// configuration parameters, get config struct from velodyne_parser.h
  Config config_;
  // queue size for ros node pub
  // int queue_size_ = 10;
};

}  // namespace velodyne
}  // namespace drivers
}  // namespace apollo