DepthImageToLaserScanROS.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* 
 * Author: Chad Rockey
 */

#ifndef DEPTH_IMAGE_TO_LASERSCAN_ROS
#define DEPTH_IMAGE_TO_LASERSCAN_ROS

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/LaserScan.h>
#include <boost/thread/mutex.hpp>
#include <dynamic_reconfigure/server.h>
#include <depthimage_to_laserscan/DepthConfig.h>

#include <depthimage_to_laserscan/DepthImageToLaserScan.h>

namespace depthimage_to_laserscan
{ 
  class DepthImageToLaserScanROS
  {
  public:
    DepthImageToLaserScanROS(ros::NodeHandle& n, ros::NodeHandle& pnh);
    
    ~DepthImageToLaserScanROS();

  private:
    void depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
                  const sensor_msgs::CameraInfoConstPtr& info_msg);

    void connectCb(const ros::SingleSubscriberPublisher& pub);

    void disconnectCb(const ros::SingleSubscriberPublisher& pub);
    
    void reconfigureCb(depthimage_to_laserscan::DepthConfig& config, uint32_t level);
    
    ros::NodeHandle pnh_; 
    image_transport::ImageTransport it_; 
    image_transport::CameraSubscriber sub_; 
    ros::Publisher pub_; 
    dynamic_reconfigure::Server<depthimage_to_laserscan::DepthConfig> srv_; 
    
    depthimage_to_laserscan::DepthImageToLaserScan dtl_; 
    
    boost::mutex connect_mutex_; 
  };
  
  
}; // depthimage_to_laserscan

#endif