single_laser_planar_pc_generator.cpp

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#include <ros/ros.h>
#include <laser_geometry/laser_geometry.h>

class LaserscanToPointcloud
{
    public:

        LaserscanToPointcloud()
        {
        ros::NodeHandle nh_;

        scan_sub_ = nh_.subscribe("/laser_1/scan", 1, &LaserscanToPointcloud::scanCallback, this); /*/snr/las/2/scan*/
        point_cloud2_pub_ = nh_.advertise<sensor_msgs::PointCloud2>("/scan_cloud",1);
        }

        void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
        {
        sensor_msgs::PointCloud2 cloud2;
        projector_.projectLaser(*scan_in, cloud2, 60); //projectLaser(const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud2& cloud_out, double range_cutoff)   
        
                                            //         Parameters:
                                            //              scan_in     The input laser scan
                                            //              cloud_out   The output point cloud
                                            //              range_cutoff    An additional range cutoff which can be applied which is more limiting than max_range in the scan. 
        point_cloud2_pub_.publish(cloud2);
        }

    protected:
        
        ros::Subscriber scan_sub_;
        ros::Publisher point_cloud2_pub_;

        laser_geometry::LaserProjection projector_;
};

int main(int argc, char** argv)
{
    ros::init(argc, argv, "laserscan_to_pointcloud_node");

    LaserscanToPointcloud ls;

    ros::spin();
}