text: // Copyright (c) 2022, Hoang Giang Nguyen - Institute for Artificial Intelligence, University Bremen
  
  #pragma once
  
  #include "ROSPublisher.h"
  
  #include "LidarPublisher.generated.h"
  
  UCLASS()
  class UROBOVIZ_API ULidarPublisher : public UROSPublisher
  {
    GENERATED_BODY()
  
  public:
    ULidarPublisher();
  
  protected:
    void Init() override;
    
    void Publish() override;
  
  public:
    UPROPERTY(EditAnywhere)
    FString LidarName = TEXT("Lidar");
  
    UPROPERTY(EditAnywhere)
    FString FrameId = TEXT("");
  
  private:
    class ULidar* Lidar;
  
    int32 Seq = 0;
  };