Refactor to allow debug messages from node and nodelet

pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h

@@ -38,8 +38,8 @@
  * Author: Paul Bovbel
  */
 
-#ifndef POINTCLOUD_TO_LASERSCAN_ROS
-#define POINTCLOUD_TO_LASERSCAN_ROS
+#ifndef POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
+#define POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
 
 #include <ros/ros.h>
 #include <boost/thread/mutex.hpp>
@@ -50,49 +50,45 @@
 #include <pcl/ros/conversions.h>
 
 #include <tf/transform_listener.h>
+#include <nodelet/nodelet.h>
 
 namespace pointcloud_to_laserscan
-{ 
-typedef pcl::PointXYZ Point;
-typedef pcl::PointCloud<Point> PointCloud;
+{
+  typedef pcl::PointXYZ Point;
+  typedef pcl::PointCloud<Point> PointCloud;
 
 /**
 * Class to process incoming pointclouds into laserscans. Some initial code was pulled from the defunct turtlebot
 * pointcloud_to_laserscan implementation.
 */
-class PointCloudToLaserScanBase
-{
-public:
-    
+  class PointCloudToLaserScanNodelet : public nodelet::Nodelet
+  {
 
-    PointCloudToLaserScanBase(ros::NodeHandle& nh, ros::NodeHandle& private_nh);
-    
-    ~PointCloudToLaserScanBase();
+  public:
+    PointCloudToLaserScanNodelet() { };
 
-private:
+  private:
+    virtual void onInit();
 
-    void cloudCb(const PointCloud::ConstPtr& cloud);
+    void cloudCb(const PointCloud::ConstPtr &cloud_msg);
 
     void connectCb();
 
     void disconnectCb();
-    
-    ros::NodeHandle nh_;
-    ros::NodeHandle private_nh_;
 
+    ros::NodeHandle nh_, private_nh_;
     ros::Publisher pub_;
     ros::Subscriber sub_;
-
     tf::TransformListener tf_;
-
     boost::mutex connect_mutex_;
 
+    // ROS Parameters
     unsigned int input_queue_size_;
     std::string target_frame_;
     double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, range_max_;
     bool use_inf_;
-};
+  };
 
-} // pointcloud_to_laserscan
+}  // pointcloud_to_laserscan
 
-#endif
+#endif  // POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET