text: // MIT License
  //
  // Copyright (c) 2021 David Cutting
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in all
  // copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  // SOFTWARE.
  
  #ifndef LIDAR_PROCESSOR__LIDAR_PROCESSOR_HPP_
  #define LIDAR_PROCESSOR__LIDAR_PROCESSOR_HPP_
  
  #include <memory>
  
  #include "rclcpp/rclcpp.hpp"
  #include "std_msgs/msg/header.hpp"
  #include "sensor_msgs/msg/point_cloud2.hpp"
  #include "sensor_msgs/msg/laser_scan.hpp"
  
  namespace LidarProcessor
  {
  class LidarProcessor : public rclcpp::Node
  {
  public:
    explicit LidarProcessor(rclcpp::NodeOptions options);
  
  private:
    void raw_pcl_callback(const sensor_msgs::msg::PointCloud2::SharedPtr msg);
    void raw_ls_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
  
    rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr filtered_pcl_publisher_;
    rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr raw_pcl_subscription_;
  
    rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr filtered_ls_publisher_;
    rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr raw_ls_subscription_;
  };
  }  // namespace LidarProcessor
  
  #endif  // LIDAR_PROCESSOR__LIDAR_PROCESSOR_HPP_
  