gazebo_plugins: vision_reconfigure.h Source File

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00034 
00035 #ifndef VISION_RECONFIGURE_HH
00036 #define VISION_RECONFIGURE_HH
00037 
00038 #include <ros/ros.h>
00039 #if ROS_VERSION_MINIMUM(1, 3, 1)
00040 #include <std_msgs/Header.h>
00041 #else
00042 #include <roslib/Header.h>
00043 #endif
00044 #include <std_msgs/Int32.h>
00045 #include <dynamic_reconfigure/server.h>
00046 #include <boost/thread/thread.hpp>
00047 #include <gazebo_plugins/CameraSynchronizerConfig.h>
00048 
00049 #include <ros/callback_queue.h>
00050 
00051 class VisionReconfigure
00052 {
00053   public:
00054     VisionReconfigure();
00055 
00056     ~VisionReconfigure();
00057 
00058     void ReconfigureCallback(gazebo_plugins::CameraSynchronizerConfig &config, uint32_t level);
00059     void QueueThread();
00060     void spinOnce();
00061     void spin(double spin_frequency);
00062 
00063   private:
00064     ros::NodeHandle nh_;
00065     ros::Publisher pub_projector_;
00066     ros::Publisher pub_header_;
00067     dynamic_reconfigure::Server<gazebo_plugins::CameraSynchronizerConfig> srv_;
00068     std_msgs::Int32 projector_msg_;
00069     ros::CallbackQueue queue_;
00070     boost::thread callback_queue_thread_;
00071 
00072 };
00073 
00074 #endif