<commit_before>#include <thread>

#include <ros/ros.h>
#include <ros/console.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>
#include <sensor_msgs/LaserScan.h>

namespace drake {
namespace examples {
namespace cars {
namespace {

class PriusToGolfCartTFConverter {
 public:
  PriusToGolfCartTFConverter() : start_time_(ros::Time::now()) {}

  void obtain_and_send_transform(const std::string drake_parent,
                                 const std::string drake_child,
                                 const std::string golfcart_parent,
                                 const std::string golfcart_child) {
    tf::StampedTransform transform;
    try {
      listener_.lookupTransform(drake_parent, drake_child, ros::Time(0),
                                transform);
      transform.frame_id_ = golfcart_parent;
      transform.child_frame_id_ = golfcart_child;
      transform.stamp_ = ros::Time::now();
      broadcaster_.sendTransform(transform);
    } catch (tf::TransformException ex) {
      if ((ros::Time::now() - start_time_).toSec() > kPublishErrorThreshold) {
        ROS_WARN("Golfcart Adapter: %s. Is Drake running?", ex.what());
        ros::Duration(1.0).sleep();
      }
    }
  }

 private:
  constexpr static double kPublishErrorThreshold = 2.0;
  ros::Time start_time_;

  tf::TransformListener listener_;
  tf::TransformBroadcaster broadcaster_;
};

class PriusToGolfCartSensorConverter {
 public:
  PriusToGolfCartSensorConverter() {}

  void operator()() {
    ros::NodeHandle node;

    // Declares the publishers for the golf cart sensor data.
    pub_front_lidar =
        node.advertise<sensor_msgs::LaserScan>("front_lidar", 1000);
    pub_front_top_lidar =
        node.advertise<sensor_msgs::LaserScan>("front_top_lidar", 1000);
    pub_rear_right_lidar =
        node.advertise<sensor_msgs::LaserScan>("rear_right_lidar", 1000);
    ;
    pub_rear_left_lidar =
        node.advertise<sensor_msgs::LaserScan>("rear_left_lidar", 1000);

    // Subscribes to the ROS topics containing Prius sensor data.
    sub_front_laser = node.subscribe(
        "/drake/prius_1/lidar/front_laser", 1,
        &PriusToGolfCartSensorConverter::callback_front_laser, this);
    sub_top_laser = node.subscribe(
        "/drake/prius_1/lidar/top_laser", 1,
        &PriusToGolfCartSensorConverter::callback_top_laser, this);
    sub_rear_left_laser = node.subscribe(
        "/drake/prius_1/lidar/rear_left_laser", 1,
        &PriusToGolfCartSensorConverter::callback_rear_left_laser, this);
    sub_rear_right_laser = node.subscribe(
        "/drake/prius_1/lidar/rear_right_laser", 1,<commit_msg>Removed extraneous semi-colon.<commit_after>#include <thread>

#include <ros/ros.h>
#include <ros/console.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>
#include <sensor_msgs/LaserScan.h>

namespace drake {
namespace examples {
namespace cars {
namespace {

class PriusToGolfCartTFConverter {
 public:
  PriusToGolfCartTFConverter() : start_time_(ros::Time::now()) {}

  void obtain_and_send_transform(const std::string drake_parent,
                                 const std::string drake_child,
                                 const std::string golfcart_parent,
                                 const std::string golfcart_child) {
    tf::StampedTransform transform;
    try {
      listener_.lookupTransform(drake_parent, drake_child, ros::Time(0),
                                transform);
      transform.frame_id_ = golfcart_parent;
      transform.child_frame_id_ = golfcart_child;
      transform.stamp_ = ros::Time::now();
      broadcaster_.sendTransform(transform);
    } catch (tf::TransformException ex) {
      if ((ros::Time::now() - start_time_).toSec() > kPublishErrorThreshold) {
        ROS_WARN("Golfcart Adapter: %s. Is Drake running?", ex.what());
        ros::Duration(1.0).sleep();
      }
    }
  }

 private:
  constexpr static double kPublishErrorThreshold = 2.0;
  ros::Time start_time_;

  tf::TransformListener listener_;
  tf::TransformBroadcaster broadcaster_;
};

class PriusToGolfCartSensorConverter {
 public:
  PriusToGolfCartSensorConverter() {}

  void operator()() {
    ros::NodeHandle node;

    // Declares the publishers for the golf cart sensor data.
    pub_front_lidar =
        node.advertise<sensor_msgs::LaserScan>("front_lidar", 1000);
    pub_front_top_lidar =
        node.advertise<sensor_msgs::LaserScan>("front_top_lidar", 1000);
    pub_rear_right_lidar =
        node.advertise<sensor_msgs::LaserScan>("rear_right_lidar", 1000);
    pub_rear_left_lidar =
        node.advertise<sensor_msgs::LaserScan>("rear_left_lidar", 1000);

    // Subscribes to the ROS topics containing Prius sensor data.
    sub_front_laser = node.subscribe(
        "/drake/prius_1/lidar/front_laser", 1,
        &PriusToGolfCartSensorConverter::callback_front_laser, this);
    sub_top_laser = node.subscribe(
        "/drake/prius_1/lidar/top_laser", 1,
        &PriusToGolfCartSensorConverter::callback_top_laser, this);
    sub_rear_left_laser = node.subscribe(
        "/drake/prius_1/lidar/rear_left_laser", 1,
        &PriusToGolfCartSensorConverter::callback_rear_left_laser, this);
    sub_rear_right_laser = node.subscribe(
        "/drake/prius_1/lidar/rear_right_laser", 1,
{'fraction_non_alphanumeric': 0.110613691475471, 'fraction_numerical': 0.010818877075172543, 'mean_word_length': 3.4608985024958403, 'pattern_counts': {'":': 0, '<': 25, '<?xml version=': 0, '>': 27, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 6, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '6435153', 'n_tokens_mistral': 1852, 'n_tokens_neox': 1787, 'n_words': 281}