DepthImageToLaserScanROS.h
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00001 /*
00002  * Copyright (c) 2012, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* 
00031  * Author: Chad Rockey
00032  */
00033 
00034 #ifndef DEPTH_IMAGE_TO_LASERSCAN_ROS
00035 #define DEPTH_IMAGE_TO_LASERSCAN_ROS
00036 
00037 #include <ros/ros.h>
00038 #include <image_transport/image_transport.h>
00039 #include <sensor_msgs/Image.h>
00040 #include <sensor_msgs/LaserScan.h>
00041 #include <boost/thread/mutex.hpp>
00042 #include <dynamic_reconfigure/server.h>
00043 #include <depthimage_to_laserscan/DepthConfig.h>
00044 
00045 #include <depthimage_to_laserscan/DepthImageToLaserScan.h>
00046 
00047 namespace depthimage_to_laserscan
00048 { 
00049   class DepthImageToLaserScanROS
00050   {
00051   public:
00052     DepthImageToLaserScanROS(ros::NodeHandle& n, ros::NodeHandle& pnh);
00053     
00054     ~DepthImageToLaserScanROS();
00055 
00056   private:
00066     void depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
00067                   const sensor_msgs::CameraInfoConstPtr& info_msg);
00068 
00075     void connectCb(const ros::SingleSubscriberPublisher& pub);
00076 
00083     void disconnectCb(const ros::SingleSubscriberPublisher& pub);
00084     
00094     void reconfigureCb(depthimage_to_laserscan::DepthConfig& config, uint32_t level);
00095     
00096     ros::NodeHandle pnh_; 
00097     image_transport::ImageTransport it_; 
00098     image_transport::CameraSubscriber sub_; 
00099     ros::Publisher pub_; 
00100     dynamic_reconfigure::Server<depthimage_to_laserscan::DepthConfig> srv_; 
00101     
00102     depthimage_to_laserscan::DepthImageToLaserScan dtl_; 
00103     
00104     boost::mutex connect_mutex_; 
00105   };
00106   
00107   
00108 }; // depthimage_to_laserscan
00109 
00110 #endif


depthimage_to_laserscan
Author(s): Chad Rockey
autogenerated on Tue Jan 7 2014 11:09:01