DepthImageToLaserScanROS.cpp

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/* 
 * Author: Chad Rockey
 */

#include <depthimage_to_laserscan/DepthImageToLaserScanROS.h>

using namespace depthimage_to_laserscan;
  
DepthImageToLaserScanROS::DepthImageToLaserScanROS(ros::NodeHandle& n, ros::NodeHandle& pnh):pnh_(pnh), it_(n), srv_(pnh) {
  boost::mutex::scoped_lock lock(connect_mutex_);
  
  // Dynamic Reconfigure
  dynamic_reconfigure::Server<depthimage_to_laserscan::DepthConfig>::CallbackType f;
  f = boost::bind(&DepthImageToLaserScanROS::reconfigureCb, this, _1, _2);
  srv_.setCallback(f);
  
  // Lazy subscription to depth image topic
  pub_ = n.advertise<sensor_msgs::LaserScan>("scan", 10, boost::bind(&DepthImageToLaserScanROS::connectCb, this, _1), boost::bind(&DepthImageToLaserScanROS::disconnectCb, this, _1));
}

DepthImageToLaserScanROS::~DepthImageToLaserScanROS(){
  sub_.shutdown();
}



void DepthImageToLaserScanROS::depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
              const sensor_msgs::CameraInfoConstPtr& info_msg){
  try
  {
    sensor_msgs::LaserScanPtr scan_msg = dtl_.convert_msg(depth_msg, info_msg);
    pub_.publish(scan_msg);
  }
  catch (std::runtime_error& e)
  {
    ROS_ERROR_THROTTLE(1.0, "Could not convert depth image to laserscan: %s", e.what());
  }
}

void DepthImageToLaserScanROS::connectCb(const ros::SingleSubscriberPublisher& pub) {
  boost::mutex::scoped_lock lock(connect_mutex_);
  if (!sub_ && pub_.getNumSubscribers() > 0) {
    ROS_DEBUG("Connecting to depth topic.");
    image_transport::TransportHints hints("raw", ros::TransportHints(), pnh_);
    sub_ = it_.subscribeCamera("image", 10, &DepthImageToLaserScanROS::depthCb, this, hints);
  }
}

void DepthImageToLaserScanROS::disconnectCb(const ros::SingleSubscriberPublisher& pub) {
  boost::mutex::scoped_lock lock(connect_mutex_);
  if (pub_.getNumSubscribers() == 0) {
    ROS_DEBUG("Unsubscribing from depth topic.");
    sub_.shutdown();
  }
}

void DepthImageToLaserScanROS::reconfigureCb(depthimage_to_laserscan::DepthConfig& config, uint32_t level){
    dtl_.set_scan_time(config.scan_time);
    dtl_.set_range_limits(config.range_min, config.range_max);
    dtl_.set_scan_height(config.scan_height);
    dtl_.set_output_frame(config.output_frame_id);
}