text: /*
   * Copyright (c) 2018, Bosch Software Innovations GmbH.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   *     * Redistributions of source code must retain the above copyright
   *       notice, this list of conditions and the following disclaimer.
   *     * Redistributions in binary form must reproduce the above copyright
   *       notice, this list of conditions and the following disclaimer in the
   *       documentation and/or other materials provided with the distribution.
   *     * Neither the name of the copyright holder nor the names of its contributors
   *       may be used to endorse or promote products derived from
   *       this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef RVIZ_DEFAULT_PLUGINS__PUBLISHERS__RANGE_PUBLISHER_HPP_
  #define RVIZ_DEFAULT_PLUGINS__PUBLISHERS__RANGE_PUBLISHER_HPP_
  
  #define _USE_MATH_DEFINES
  #include <cmath>
  #include <vector>
  
  #include "rclcpp/rclcpp.hpp"
  #include "rclcpp/clock.hpp"
  #include "std_msgs/msg/header.hpp"
  #include "sensor_msgs/msg/range.hpp"
  
  using namespace std::chrono_literals;  // NOLINT
  
  namespace nodes
  {
  
  class RangePublisher : public rclcpp::Node
  {
  public:
    RangePublisher()
    : Node("range_publisher")
    {
      publisher = this->create_publisher<sensor_msgs::msg::Range>("range");
      timer = this->create_wall_timer(500ms, std::bind(&RangePublisher::timer_callback, this));
    }
  
  private:
    void timer_callback()
    {
      auto message = sensor_msgs::msg::Range();
      message.header = std_msgs::msg::Header();
      message.header.frame_id = "range_frame";
      message.header.stamp = rclcpp::Clock().now();
  
      message.radiation_type = sensor_msgs::msg::Range::INFRARED;
      message.range = 3;
      message.min_range = 0;
      message.max_range = 6;
      message.field_of_view = static_cast<float>(M_PI / 2);
  
      publisher->publish(message);
    }
  
    rclcpp::TimerBase::SharedPtr timer;
    rclcpp::Publisher<sensor_msgs::msg::Range>::SharedPtr publisher;
  };
  
  }  // namespace nodes
  
  #endif  // RVIZ_DEFAULT_PLUGINS__PUBLISHERS__RANGE_PUBLISHER_HPP_
  