#!/usr/bin/env python

import rospy
from sensor_msgs.msg import PointCloud2 as pc2
from sensor_msgs.msg import LaserScan
from laser_geometry import LaserProjection


class Laser2PC():
	def __init__(self):
		self.laserProj=LaserProjection()
		self.pcPub=rospy.Publisher("/laserPointCloud",pc2,queue_size=1)
		self.laserSub=rospy.Subscriber("/scan",LaserScan,self.laserCallback)
	
	def laserCallback(self,data):
		cloud_out=self.laserProj.projectLaser(data)
		self.pcPub.publish(cloud_out)
if __name__=='__main__':
	rospy.init_node("scan_to_pcl")
	l2pc=Laser2PC()
	rospy.spin()


