Initial pointcloud to laserscan commit

pointcloud_to_laserscan/src/PointCloudToLaserScanBase.cpp

@@ -0,0 +1,44 @@
+#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h>
+#include <sensor_msgs/LaserScan.h>
+
+
+namespace pointcloud_to_laserscan
+{ 
+
+PointCloudToLaserScanBase::PointCloudToLaserScanBase(ros::NodeHandle& nh, ros::NodeHandle& private_nh, const unsigned int concurrency) :
+    nh_(nh), private_nh_(private_nh), concurrency_(concurrency)
+{
+    boost::mutex::scoped_lock lock(connect_mutex_);
+    pub_ = nh.advertise<sensor_msgs::LaserScan>("scan", 10, boost::bind(&PointCloudToLaserScanBase::connectCb, this), boost::bind(&PointCloudToLaserScanBase::disconnectCb, this));
+
+    //todo params
+    target_frame_ = "base_link";
+
+}
+
+PointCloudToLaserScanBase::~PointCloudToLaserScanBase(){
+    sub_.shutdown();
+}
+
+void PointCloudToLaserScanBase::cloudCb(const PointCloud::ConstPtr& cloud){
+
+}
+
+
+void PointCloudToLaserScanBase::connectCb() {
+    boost::mutex::scoped_lock lock(connect_mutex_);
+    if (!sub_ && pub_.getNumSubscribers() > 0) {
+        ROS_DEBUG("Connecting to depth topic.");
+        sub_ = nh_.subscribe("cloud_in", concurrency_, &PointCloudToLaserScanBase::cloudCb, this);
+    }
+}
+
+void PointCloudToLaserScanBase::disconnectCb() {
+    boost::mutex::scoped_lock lock(connect_mutex_);
+    if (pub_.getNumSubscribers() == 0) {
+        ROS_DEBUG("Unsubscribing from depth topic.");
+        sub_.shutdown();
+    }
+}
+
+} // pointcloud_to_laserscan

pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp

@@ -0,0 +1,16 @@
+#include <ros/ros.h>
+#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h>
+
+int main(int argc, char **argv){
+    ros::init(argc, argv, "pointcloud_to_laserscan");
+    ros::NodeHandle nh;
+    ros::NodeHandle nh_private("~");
+
+    unsigned int concurrency = 4;
+
+    pointcloud_to_laserscan::PointCloudToLaserScanBase node(nh, nh_private, concurrency);
+
+    ros::spin();
+
+    return 0;
+}