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