/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Yuto Inagaki and JSK Lab
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#include "jsk_pcl_ros/tf_transform_cloud.h"
#include <pluginlib/class_list_macros.h>

#include <tf2_ros/buffer_client.h>
#include <pcl/common/centroid.h>

namespace jsk_pcl_ros
{
  void TfTransformCloud::transform(const sensor_msgs::PointCloud2ConstPtr &input)
  {
    sensor_msgs::PointCloud2 output;
    try
    {
      if (pcl_ros::transformPointCloud(target_frame_id_, *input, output,
                                       *tf_listener_)) {
        pub_cloud_.publish(output);
      }
    }
    catch (tf2::ConnectivityException &e)
    {
      NODELET_ERROR("Transform error: %s", e.what());
    }
    catch (tf2::InvalidArgumentException &e)
    {
      NODELET_ERROR("Transform error: %s", e.what());
    }
  }

  void TfTransformCloud::onInit(void)
  {
    ConnectionBasedNodelet::onInit();
    
    if (!pnh_->getParam("target_frame_id", target_frame_id_))
    {
      ROS_WARN("~target_frame_id is not specified, using %s", "/base_footprint");
    }
    tf_listener_ = TfListenerSingleton::getInstance();
    pub_cloud_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
  }

  void TfTransformCloud::subscribe()
  {
    sub_cloud_ = pnh_->subscribe("input", 1, &TfTransformCloud::transform, this);
  }

  void TfTransformCloud::unsubscribe()
  {
    sub_cloud_.shutdown();
  }
}

PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::TfTransformCloud, nodelet::Nodelet);
