LazyNodelet for io/PointCloudConcatenateDataSynchronizer

pcl_ros/include/pcl_ros/io/concatenate_data.h

@@ -40,7 +40,7 @@
 
 // ROS includes
 #include <tf/transform_listener.h>
-#include <nodelet/nodelet.h>
+#include <nodelet_topic_tools/nodelet_lazy.h>
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
 #include <message_filters/pass_through.h>
@@ -57,7 +57,7 @@ namespace pcl_ros
     * PointCloud output message.
     * \author Radu Bogdan Rusu
     */
-  class PointCloudConcatenateDataSynchronizer: public nodelet::Nodelet
+  class PointCloudConcatenateDataSynchronizer: public nodelet_topic_tools::NodeletLazy
   {
     public:
       typedef sensor_msgs::PointCloud2 PointCloud2;
@@ -76,11 +76,10 @@ namespace pcl_ros
       virtual ~PointCloudConcatenateDataSynchronizer () {};
 
       void onInit ();
+      void subscribe ();
+      void unsubscribe ();
 
     private:
-      /** \brief ROS local node handle. */
-      ros::NodeHandle private_nh_;
-      
       /** \brief The output PointCloud publisher. */
       ros::Publisher pub_output_;
 
@@ -96,6 +95,9 @@ namespace pcl_ros
       /** \brief Output TF frame the concatenated points should be transformed to. */
       std::string output_frame_;
 
+      /** \brief Input point cloud topics. */
+      XmlRpc::XmlRpcValue input_topics_;
+
       /** \brief TF listener object. */
       tf::TransformListener tf_;