ported rtabmap_ros_pkg_split to ros2

rtabmap_util/include/rtabmap_util/lidar_deskewing.hpp

@@ -0,0 +1,39 @@
+
+#include <rtabmap_util/visibility.h>
+#include "rclcpp/rclcpp.hpp"
+
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <sensor_msgs/msg/laser_scan.hpp>
+
+namespace rtabmap_util
+{
+
+class LidarDeskewing : public rclcpp::Node
+{
+public:
+	RTABMAP_UTIL_PUBLIC
+	explicit LidarDeskewing(const rclcpp::NodeOptions & options);
+	virtual ~LidarDeskewing();
+
+private:
+	void callbackScan(const sensor_msgs::msg::LaserScan::ConstSharedPtr msg);
+	void callbackCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
+
+private:
+	rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pubScan_;
+	rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pubCloud_;
+	rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr subScan_;
+	rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr subCloud_;
+	std::string fixedFrameId_;
+	double waitForTransformDuration_;
+	bool slerp_;
+	std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
+	std::shared_ptr<tf2_ros::TransformListener> tfListener_;
+};
+
+}
+
+