#include "ros/ros.h"

#include "std_msgs/String.h"

#include "sensor_msgs/PointCloud2.h"

#include <string>

#include <sstream>

/**

 * This tutorial demonstrates simple sending of messages over the ROS system.

 */

static ros::Publisher g_scan_pub;

static void main_topic_callback(const sensor_msgs::PointCloud2::ConstPtr& input)

{

    sensor_msgs::PointCloud2 msg = *input;

    msg.header.frame_id = "velodyne";

    g_scan_pub.publish(msg);

}

int main(int argc, char *argv[])

{

    /**

     * The ros::init() function needs to see argc and argv so that it can perform

     * any ROS arguments and name remapping that were provided at the command line.

     * For programmatic remappings you can use a different version of init() which takes

     * remappings directly, but for most command-line programs, passing argc and argv is

     * the easiest way to do it.  The third argument to init() is the name of the node.

     *

     * You must call one of the versions of ros::init() before using any other

     * part of the ROS system.

     */

    ros::init(argc, argv, "trans_leishen_velodyne");

    /**

     * NodeHandle is the main access point to communications with the ROS system.

     * The first NodeHandle constructed will fully initialize this node, and the last

     * NodeHandle destructed will close down the node.

     */

    ros::NodeHandle private_nh("~");

    ros::NodeHandle n;

    /**

     * The advertise() function is how you tell ROS that you want to

     * publish on a given topic name. This invokes a call to the ROS

     * master node, which keeps a registry of who is publishing and who

     * is subscribing. After this advertise() call is made, the master

     * node will notify anyone who is trying to subscribe to this topic name,

     * and they will in turn negotiate a peer-to-peer connection with this

     * node.  advertise() returns a Publisher object which allows you to

     * publish messages on that topic through a call to publish().  Once

     * all copies of the returned Publisher object are destroyed, the topic

     * will be automatically unadvertised.

     *

     * The second parameter to advertise() is the size of the message queue

     * used for publishing messages.  If messages are published more quickly

     * than we can send them, the number here specifies how many messages to

     * buffer up before throwing some away.

     */

    std::string main_topic;

    std::string scan_topic;

    if (!private_nh.getParam("main_topic", main_topic))

    {

        ROS_ERROR("can not get main_topic!");

        exit();

    }

    if (!private_nh.getParam("scan_topic", scan_topic))

    {

        ROS_ERROR("can not get scan_topic!");

        exit();

    }

    g_scan_pub = n.advertise<sensor_msgs::PointCloud2>(scan_topic, );

    ros::Subscriber main_topic_sub = n.subscribe<sensor_msgs::PointCloud2>(main_topic, , main_topic_callback);

    /**

     * A count of how many messages we have sent. This is used to create

     * a unique string for each message.

     */

    ros::spin();

    return ;

}

<launch>

  <arg name="scan_topic_name" default="velodyne_points" />

  <arg name="main_topic_name" default="point_raw" />

  <node pkg="record_gnss_pc" name="trans_leishen_velodyne" type="trans_leishen_velodyne" output="screen">

    <param name="scan_topic" value="$(arg scan_topic_name)" />

    <param name="main_topic" value="$(arg main_topic_name)" />

  </node>

</launch>

// LeiShen-32C-5Hz

// extern const int N_SCAN = 32;

// extern const int Horizon_SCAN = 4000;

// extern const float ang_res_x = 360.0 / float(Horizon_SCAN);

// extern const float ang_res_y = 26 / float(N_SCAN-1);

// extern const float ang_bottom = 16.5;

// extern const int groundScanInd = 10; //地面的线扫条数

// LeiShen-32C-10Hz

extern const int N_SCAN = ;

extern const int Horizon_SCAN = ;

extern const float ang_res_x = 360.0 / float(Horizon_SCAN);

extern const float ang_res_y = 26.0 / float(N_SCAN-);

extern const float ang_bottom = 16.5;

extern const int groundScanInd = ; //地面的线扫条数

$ roslaunch lego_loam run.launch

$ roslaunch record_data leishen_dispatcher.launch

$ rosbag play --clock -----.bag