text: // Copyright 1996-2021 Cyberbotics Ltd.
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  #ifndef ROS2_RANGE_FINDER_HPP
  #define ROS2_RANGE_FINDER_HPP
  
  #include <unordered_map>
  #include <sensor_msgs/msg/camera_info.hpp>
  #include <sensor_msgs/msg/image.hpp>
  #include <webots/RangeFinder.hpp>
  #include <webots_ros2_driver/plugins/Ros2SensorPlugin.hpp>
  #include <webots_ros2_driver/WebotsNode.hpp>
  
  
  namespace webots_ros2_driver
  {
  
    class Ros2RangeFinder : public Ros2SensorPlugin
    {
    public:
      void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> &parameters) override;
      void step() override;
  
    private:
      void publishImage();
  
      webots::RangeFinder* mRangeFinder;
  
      rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr mImagePublisher;
      sensor_msgs::msg::Image mImageMessage;
      rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr mCameraInfoPublisher;
      sensor_msgs::msg::CameraInfo mCameraInfoMessage;
  
      bool mIsEnabled;
    };
  
  }
  
  #endif
  