/**
* This file is part of LIO-mapping.
* 
* Copyright (C) 2019 Haoyang Ye <hy.ye at connect dot ust dot hk>,
* Robotics and Multiperception Lab (RAM-LAB <https://ram-lab.com>),
* The Hong Kong University of Science and Technology
* 
* For more information please see <https://ram-lab.com/file/hyye/lio-mapping>
* or <https://sites.google.com/view/lio-mapping>.
* If you use this code, please cite the respective publications as
* listed on the above websites.
* 
* LIO-mapping is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* 
* LIO-mapping is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
* 
* You should have received a copy of the GNU General Public License
* along with LIO-mapping.  If not, see <http://www.gnu.org/licenses/>.
*/

//
// Created by hyye on 3/16/18.
//

#ifndef LIO_COMMON_ROS_H_
#define LIO_COMMON_ROS_H_

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_types.h>

namespace lio {

template <typename PointT>
inline void PublishCloudMsg(ros::Publisher& publisher,
                            const pcl::PointCloud<PointT>& cloud,
                            const ros::Time& stamp,
                            std::string frame_id) {
  sensor_msgs::PointCloud2 msg;
  pcl::toROSMsg(cloud, msg);
  msg.header.stamp = stamp;
  msg.header.frame_id = frame_id;
  publisher.publish(msg);
}

} // namespace lio

#endif //LIO_COMMON_ROS_H_
