laser_scan_display.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef RVIZ_LASER_SCAN_DISPLAY_H
#define RVIZ_LASER_SCAN_DISPLAY_H

#include "point_cloud_base.h"
#include "rviz/helpers/color.h"
#include "rviz/properties/forwards.h"

#include "rviz/ogre_helpers/point_cloud.h"

#include "sensor_msgs/LaserScan.h"

#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>

#include <message_filters/subscriber.h>
#include <tf/message_filter.h>

#include <deque>
#include <queue>
#include <vector>

namespace laser_geometry
{
class LaserProjection;
}

namespace rviz
{

class LaserScanDisplay : public PointCloudBase
{
public:
  LaserScanDisplay();
  ~LaserScanDisplay();

  virtual void onInitialize();

  // Overrides from Display
  virtual void createProperties();
  virtual void fixedFrameChanged();

  void setTopic( const std::string& topic );
  const std::string& getTopic() { return topic_; }

  void setQueueSize( int size );
  int getQueueSize();

protected:
  virtual void onEnable();
  virtual void onDisable();

  void subscribe();
  void unsubscribe();

  void incomingScanCallback(const sensor_msgs::LaserScan::ConstPtr& scan);

  std::string topic_;                         
  message_filters::Subscriber<sensor_msgs::LaserScan> sub_;
  tf::MessageFilter<sensor_msgs::LaserScan>* tf_filter_;

  ROSTopicStringPropertyWPtr topic_property_;

  laser_geometry::LaserProjection* projector_;

  ros::Duration filter_tolerance_;
  IntPropertyWPtr queue_size_property_;
};

} // namespace rviz

#endif