text: /*
   * Copyright (c) 2019 Intel Corporation
   *
   * This work is licensed under the terms of the MIT license.
   * For a copy, see <https://opensource.org/licenses/MIT>.
   */
  #pragma once
  
  #include <ros/ros.h>
  #include <pcl_conversions/pcl_conversions.h>
  #include <tf2_ros/buffer.h>
  #include <tf2_ros/transform_listener.h>
  #include <tf2_eigen/tf2_eigen.h>
  
  class PclRecorder
  {
  public:
  
    PclRecorder();
  
    void callback(const boost::shared_ptr<const pcl::PCLPointCloud2>& cloud);
  
  private:
    ros::NodeHandle nh;
    ros::Subscriber sub;
    tf2_ros::Buffer tf_buffer_;
    tf2_ros::TransformListener *tfListener;
    static constexpr const char* fixed_frame_ = "map";
  
  };
  