v4r_uvc_general_node.cpp
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00001 /***************************************************************************
00002  *   Copyright (C) 2012 by Markus Bader                                    *
00003  *   markus.bader@tuwien.ac.at                                             *
00004  *                                                                         *
00005  *   This program is free software; you can redistribute it and/or modify  *
00006  *   it under the terms of the GNU General Public License as published by  *
00007  *   the Free Software Foundation; either version 2 of the License, or     *
00008  *   (at your option) any later version.                                   *
00009  *                                                                         *
00010  *   This program is distributed in the hope that it will be useful,       *
00011  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00012  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
00013  *   GNU General Public License for more details.                          *
00014  *                                                                         *
00015  *   You should have received a copy of the GNU General Public License     *
00016  *   along with this program; if not, write to the                         *
00017  *   Free Software Foundation, Inc.,                                       *
00018  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
00019  ***************************************************************************/
00020 
00021 
00022 #include <v4r_uvc/v4r_uvc_ros.h>
00023 #include <dynamic_reconfigure/server.h>
00024 #include <v4r_uvc/CameraGeneralConfig.h>
00025 
00026 class V4RLogitechNode : public V4RCamNode {
00027 public:
00028     V4RLogitechNode ( ros::NodeHandle &n ):V4RCamNode(n) {
00029         reconfigureFnc_ = boost::bind(&V4RLogitechNode::callbackParameters, this,  _1, _2);
00030         reconfigureServer_.setCallback(reconfigureFnc_);
00031     }
00032     void callbackParameters ( v4r_uvc::CameraGeneralConfig &config, uint32_t level ) {  
00033         show_camera_image_ = config.show_camera_image; 
00034         camera_freeze_ = config.camera_freeze;
00035         queueRosParamToV4LCommit_ = true;
00036     }
00037 protected:
00038     dynamic_reconfigure::Server<v4r_uvc::CameraGeneralConfig> reconfigureServer_;
00039     dynamic_reconfigure::Server<v4r_uvc::CameraGeneralConfig>::CallbackType reconfigureFnc_;
00040 protected:
00041 };
00042 
00043 
00044 int main(int argc, char **argv)
00045 {
00046 
00047     ros::init(argc, argv, "v4r_uvc_general");
00048     ros::NodeHandle n;
00049     V4RLogitechNode node(n);
00050     ros::Rate rate(100);
00051     while(ros::ok() && node.grab()) {
00052         node.publishCamera();
00053         ros::spinOnce();
00054         rate.sleep();
00055     }
00056     return 0;
00057 }
00058 


v4r_uvc
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autogenerated on Wed Aug 26 2015 16:41:35