bumblebee2_driver_node.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _bumblebee2_driver_node_h_
00026 #define _bumblebee2_driver_node_h_
00027 
00028 #include <iri_base_driver/iri_base_driver_node.h>
00029 #include "bumblebee2_driver.h"
00030 
00031 // image transport
00032 #include "image_transport/image_transport.h"
00033 #include <camera_info_manager/camera_info_manager.h>
00034 
00035 // [publisher subscriber headers]
00036 #include <sensor_msgs/Image.h>
00037 
00038 // [service client headers]
00039 
00040 // [action server client headers]
00041 
00042 #include "eventserver.h"
00043 
00061 class Bumblebee2DriverNode : public iri_base_driver::IriBaseNodeDriver<Bumblebee2Driver>
00062 {
00063   private:
00064     // [publisher attributes]
00065     std::vector<TROSCamera> cameras;
00066     camera_info_manager::CameraInfoManager camera_manager;
00067 
00068     // [subscriber attributes]
00069 
00070     // [service attributes]
00071 
00072     // [client attributes]
00073 
00074     // [action server attributes]
00075 
00076     // [action client attributes]
00077 
00078     // node attributes
00079     double desired_framerate;
00080     CEventServer *event_server;
00081     std::string new_frame_event;
00082     std::string tf_prefix_;
00083 
00091     void postNodeOpenHook(void);
00092 
00093   public:
00111     Bumblebee2DriverNode(ros::NodeHandle& nh);
00112 
00119     ~Bumblebee2DriverNode(void);
00120 
00121   protected:
00134     void mainNodeThread(void);
00135 
00136     // [diagnostic functions]
00137 
00148     void addNodeDiagnostics(void);
00149 
00150     // [driver test functions]
00151 
00161     void addNodeOpenedTests(void);
00162 
00172     void addNodeStoppedTests(void);
00173 
00183     void addNodeRunningTests(void);
00184 
00192     void reconfigureNodeHook(int level);
00193 
00194 };
00195 
00196 #endif


iri_bumblebee2
Author(s): Sergi Hernandez Juan
autogenerated on Fri Dec 6 2013 22:29:51