Created toid_lidar node

toid_lidar/include/toid_lidar/toid_lidar_node.hpp

@@ -0,0 +1,47 @@
+#pragma once
+
+#include "Eigen/Geometry"
+#include "geometry_msgs/msg/point_stamped.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/laser_scan.hpp"
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/transform_listener.hpp"
+#include "toid_msgs/msg/rival.hpp"
+#include "vector"
+
+namespace toid
+{
+
+class ToidRivalDetect : public rclcpp::Node
+{
+  using LaserScan = sensor_msgs::msg::LaserScan;
+  using Rival = toid_msgs::msg::Rival;
+  using PointStamped = geometry_msgs::msg::PointStamped;
+
+public:
+  static void generate_rotation_matricies(std::vector<Eigen::Matrix4d> &) {}
+
+  ToidRivalDetect();
+
+  static std::vector<Eigen::Matrix3d> rotations;
+private:
+
+  void process_scan(LaserScan::ConstSharedPtr msg);
+
+  rclcpp::Subscription<LaserScan>::SharedPtr scan_sub_;
+  rclcpp::Publisher<Rival>::SharedPtr rival_pub_;
+  rclcpp::Publisher<PointStamped>::SharedPtr point_pub_;
+
+  std::shared_ptr<tf2_ros::Buffer> tf_buf_;
+  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+
+  std::string lidar_frame_ = "lidar";
+  std::string base_frame_ = "base_footprint";
+  std::string global_frame_ = "map";
+
+  rclcpp::Logger logger_ = get_logger();
+  rclcpp::Clock::SharedPtr clock_;
+
+};
+
+}  // namespace toid